Team Members
- Jaehyun Bae
Motivation
DARPA Warrior Web Program
• There has a been a lot of research into exoskeletons over the years to alleviate heavy loads that soldiers should burden, but strapping a person into a robotic outfit just isn't practical in a combat zone yet.
• DARPA's Warrior Web program aims to build a lightweight suit that improves a soldier's endurance and overall effectiveness, while preventing injuries.
• The main goals by developing the warrior web are
–To prevent and reduce musculoskeletal injuries.
–To augment positive work done by the muscles and reduce the physical burden
Harvard Exosuit
Challenges
Research Questions
Strategy
Experimental data
Modeling
How to model a subject wearing active actuator
Sample models
Optimization process
- CMC procedure contains static optimization process
Cost function of optimization process in CMC (Slow target)
When there is active actuators on OpenSim Model, the activation term in cost function becomes
Assign large value of maximum force to each actuator to reduce the size of xactuator, so that the influence of actuator to J is diminished.
Result
Discussion
Conclusion
References