Intelligent upper-limb exoskeleton integrated with soft bioelectronics and deep learning for intention-driven augmentation
Jinwoo Lee, Kangkyu Kwon, Ira Soltis, Jared Matthews, Yoon Jae Lee, Hojoong Kim, Lissette Romero, Nathan Zavanelli, Youngjin Kwon, Shinjae Kwon, Jimin Lee, Yewon Na, Sung Hoon Lee, Ki Jun Yu, Minoru Shinohara, Frank L. Hammond, Woon‐Hong Yeo
Abstract
Abstract The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Here, we introduce an intelligent upper-limb exoskeleton system that utilizes deep learning to predict human intention for strength augmentation. The embedded soft wearable sensors provide sensory feedback by collecting real-time muscle activities, which are simultaneously computed to determine the user’s intended movement. Cloud-based deep learning predicts four upper-limb joint motions with an average accuracy of 96.2% at a 500–550 ms response rate, suggesting that the exoskeleton operates just by human intention. In addition, an array of soft pneumatics assists the intended movements by providing 897 newtons of force while generating a displacement of 87 mm at maximum. The intent-driven exoskeleton can reduce human muscle activities by 3.7 times on average compared to the unassisted exoskeleton.