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Ignacio Galiana

5 accepted papers

2018

Autonomous Multi-Joint Soft Exosuit for Assistance with Walking Overground

Sangjun Lee, Nikos Karavas, Brenna T. Quinlivan, Danielle LouiseRyan, David Perry, Asa Eckert-Erdheim +8
ICRA 2018poster

Soft exosuits are a new approach for assisting with human locomotion, which applies assistive torques to the wearer through functional apparel. In this paper, we present a new version of autonomous multi-joint soft exosuit for gait assistance, particularly designed for overground walking. The soft e…

Cited by 69Source ↗Scholar ↗
2018

Autonomous and Portable Soft Exosuit for Hip Extension Assistance with Online Walking and Running Detection Algorithm

Jinsoo Kim, Roman Heimgartner, Giuk Lee, Nikos Karavas, David Perry, Danielle Louise Ryan +5
ICRA 2018poster

We present an autonomous and portable hip-only soft exosuit, for augmenting human walking and running that assists hip extension by delivering peak forces of 300N to the user. Different fixed assistance profiles for walking and running were applied based on an online classification algorithm. The ap…

Cited by 75Source ↗Scholar ↗
2016

Controlling negative and positive power at the ankle with a soft exosuit

Sangjun Lee, Simona Crea, Philippe Malcolm, Ignacio Galiana, Alan T. Asbeck, Conor J. Walsh
ICRA 2016

The soft exosuit is a new approach for applying assistive forces over the wearer's body through load paths configured by the textile architecture. In this paper, we present a body-worn lower-extremity soft exosuit and a new control approach that can independently control the level of assistance that

Cited by 91Source ↗Scholar ↗
2016

IMU-based iterative control for hip extension assistance with a soft exosuit

Ye Ding, Ignacio Galiana, Christopher Siviy, Fausto A. Panizzolo, Conor J. Walsh
ICRA 2016

In this paper we describe an IMU-based iterative controller for hip extension assistance where the onset timing of assistance is based on an estimate of the maximum hip flexion angle. The controller was implemented on a mono-articular soft exosuit coupled to a lab-based multi-joint actuation platfor

Cited by 101Source ↗Scholar ↗
2015

Multi-joint soft exosuit for gait assistance

Alan T. Asbeck, Kai Schmidt, Ignacio Galiana, Diana Wagner, Conor J. Walsh
ICRA 2015poster

Exosuits represent a new approach for applying assistive forces to an individual, using soft textiles to interface to the wearer and transmit forces through specified load paths. In this paper we present a body-worn, multi-joint soft exosuit that assists both ankle plantar flexion and hip flexion th…

Cited by 154Source ↗Scholar ↗