IMU-based assistance modulation in upper limb soft wearable exosuits.

Soft exosuits have advantages over their rigid counterparts in terms of portability, transparency and ergonomics. Our previous work has shown that a soft, fabric-based exosuit, actuated by an electric motor and a Bowden cable, reduced the muscular effort of the user when flexing the elbow. This previous exosuit used a gravity compensation algorithm with the assumption that the shoulder was adducted at the trunk.