Figure 1.

Architecture and the operation principle of the Myosuit. (a) The Myosuit is a textile-based wearable robot to support the lower limbs. It is comprised of a textile harness that houses two motors, control electronics, and a battery. Two artificial tendons are routed from the motors posteriorly over the hip joint and anteriorly over the knee joint. Low-weight orthoses are placed on the user’s lower limbs to route and anchor the tendons. (b) The Myosuit supports the weight-bearing phase of walking. Here the mean and standard deviation of the forces measured during the experimental protocol and averaged across all participants and conditions are shown. The assisting forces are modulated based on the relative angle between the thigh and shank segments. The segment angles and walking events are estimated using a set of 9-axis IMUs mounted on the shank, thigh, and trunk segments of the user’s body.