Actions, Preferences, And Wearable Robots: The Development of Meaningful Exoskeletons and Robotic Prostheses
Author(s)
Rouse, Elliott
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Abstract
Lower-limb wearable robots—such as exoskeletons and robotic prostheses—have struggled to have the societal impact expected from these exciting technologies. In part, these challenges stem from fundamental gaps in our understanding of how and why these systems should assist their wearer during use. Wearable robots are typically designed to meet a single, specific objective (e.g. reduction of metabolic rate), however, in reality, assistive technologies impact many aspects of gait and user experience. In this talk, I will discuss our recent work leveraging user preference as a ‘meta-criterion’ in design and control, through which the wearer is able to internally balance the quantitative and qualitative tradeoffs that accompany wearing these technologies, including stability, comfort, exertion, or speed. I will highlight our work understanding user-preferred assistance settings in a variable-stiffness prosthesis and bilateral ankle exoskeletons, demonstrating user-preferred assistance settings are reliable yet diverse, and can be obtained in less than two minutes. In addition, I will discuss how user-preferred assistance can be optimized automatically with human-in-the-loop methods, which are able to converge on user-preferred settings with an accuracy of ~90%. Finally, I will introduce a new approach for understanding the success of assistive technologies using tools from behavioral economics. I will describe and quantify the economic value provided by ankle exoskeletons, including the cost incurred from wearing the added mass, as well as the value added by the assistance alone. Together, this talk will underscore the role of the user in the development of wearable robots, and advocate for a shift away from the conventional, single-objective assessment of these technologies.
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Date
2025-09-17
Extent
60:05 minutes
Resource Type
Moving Image
Resource Subtype
Lecture
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Unless otherwise noted, all materials are protected under U.S. Copyright Law and all rights are reserved