@article {1604752,
	title = {Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	number = {2},
	year = {2021},
	pages = {2155-2162},
	abstract = {Recent developments in soft active wearable robotscan be used for upper extremity injury prevention for healthyindustrial workers with better comfort than rigid systems, but therehas not been control strategy proposals for such use cases. In this letter, we introduce a kinematics-based controller for an inflatable softwearable robot that provides assistance to the shoulder quickly andaccurately when needed during industrial use cases. Our approachis to use a state machine to classify user intent using shoulder andtrunk kinematics estimated with body-worn inertial measurementunits. We recruited eight participants to perform various taskscommon in the workplace and assessed the controller{\textquoteright}s intent classification accuracy and response times, by using the users{\textquoteright} reactionsto cues as their ground truth intentions. On average, we foundthat the kinematics controller had 99\% classification accuracy,and responded 0.8 seconds after the users reacted to the cue tobegin work and 0.5 seconds after the users reacted to a cue to stopthe task. In addition, we implemented an EMG-based controllerfor comparison, with state transitions determined by EMG-basedthresholds instead of kinematics. Compared to the EMG controller,the kinematics controller required similar time to detect the users{\textquoteright}intentions to stop overhead work but an additional 0.17 seconds onaverage for detecting users{\textquoteright} intentions to begin. Although slightlyslower, the kinematics controller still provided support prior tousers{\textquoteright} work initiations. We also implemented an online adaptivetuning algorithm for the kinematics controller to speed up response time while ensuring accuracy during offset transitions. Thisresearch paves the way for a further study of kinematics-basedcontroller in a mobile system in real work environments.},
	url = {https://ieeexplore.ieee.org/document/9361252/},
	author = {Zhou, Y. M. and Hohimer, C. and Proietti, T. and O{\textquoteright}Neill, C. and C. J. Walsh}
}
