Science Robotics

Supplementary Materials

Supplementary Material for:

Human-in-the-loop optimization of hip assistance with a soft exosuit during walking

Ye Ding, Myunghee Kim, Scott Kuindersma,* Conor J. Walsh*

*Corresponding author. Email: walsh{at}seas.harvard.edu (C.J.W.); scottk{at}seas.harvard.edu (S.K.)

Published 28 February 2018, Sci. Robot. 3, eaar5438 (2018)
DOI: 10.1126/scirobotics.aar5438

This PDF file includes:

  • Fig. S1. Illustration of 1D Gaussian process.
  • Fig. S2. Simulation results on the number of iterations needed for the optimization.
  • Fig. S3. Convergence analysis.
  • Fig. S4. Optimized hip extension force profiles for all participants.
  • Fig. S5. Experimental setup.
  • Fig. S6. Experimental protocol.
  • Fig. S7. Structure of the waist belt component.
  • Fig. S8. Structure of the thigh brace.
  • Fig. S9. Pseudo-randomly sampled timings for the initialization of Bayesian optimization.
  • Fig. S10. Optimization process.
  • Table S1. Signal-to-noise ratio and variations of metabolic cost of pilot tests.
  • Table S2. Onset timing.
  • Table S3. Participant characteristics.
  • Table S4. Metabolic rates, optimal timing, and convergence timing for each participant.
  • Table S5. Quadratic approximation of metabolic landscape.

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