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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: Neuro-cognitive assessment of intentional control methods for a soft elbow exosuit using error-related potentials

Fig. 1

System and experiment methods overview. Hardware. The soft pneumatic exosuit consists of two independent elbow sleeves with actuator tubes that snake through the posterior portion of the sleeves to provide flexion assistance. An air compressor power source is used to inflate the exosuit. Inlet valves and pressure sensors are off-board housed within a separate control box. Outlet valves are located directly on the upper arm at the inlet to the actuator. Inlet and outlet valve opening percentages \(\phi _{in}\) and \(\phi _{out}\) are modulated to control exosuit pressure. Two IMUs per side, ESP32 microcontroller, and battery are embedded in the sleeve to determine exosuit kinematics. High-level control: Decoding intention. A decoded required torque \(\tau _r\) is determined via a gravity compensation scheme (\(\tau _g\)) or a myoprocessor scheme (\(\tau _m\)) based on muscle activity measured with supplementary Delsys EMG sensors. exosuit torque \(\tau _{exo}\) being supplied to the wearer is linearly dependent on the actuator tube air pressure. The interaction torque \(\tau _i\) between the exosuit torque provided and decoded torque required from the user should be minimized as much as possible. Low-level control: Optimizing system performance. A PID controller was used to modulate valve opening percentages \(\phi _{in}\) and \(\phi _{out}\) to minimize the interaction torque \(\tau _i\). Neuro-Cognitive Assessment: Tracking task. An EEG study was conducted to determine when the exosuit violated user expectations from the ERP in response to control errors to understand and enhance the cognitive interface with the exosuit

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