Academic Paper: Active Knee Exosuit to Assist Uphill Ascent and Stair Climbing
I spent the 2015 summer in the Harvard SEAS REU program conducting research in Professor Conor Walsh’s Biodesign Lab. I worked with two students to design, build, and control an active-knee exosuit that would assist in uphill ascent and stair climbing. The result was a lightweight and “soft” design that mimics the natural motion the knee makes during bending. It uses a Bowden cable system to assist the wearer by applying a torque around the knee. I designed the motor controllers, wrote PID code, wrote an algorithm using foot-switches and load cells to allow assistance to adapt to different walking gaits. See a prototype in action.