Development of a Modular Test Bench for Cable-Driven Synergy-Based Exosuit Actuation and Control Strategies

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Abstract
In their survey dated 2019, the UN predicts that the population above the age of 65 will increase from 9%, to 16% by the year 2050 [1]. Ageing results in the eventual loss of muscle mass and strength, joint problems and overall slowing of movements with a greater risk of suffering falls or other such accidents. Gait assist exoskeletons can help promote active ageing in this segment of the population. Since these devices are user specific in terms of the mechanics and control required, the facility to test different parameters becomes indispensable. This work details the design and construction of a modular test bench to implement synergies in an exosuit using motors and cables, and the optimization of the control scheme to better adapt it to specific patients.

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