Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking

Key Points

• The aim is to evaluate how tuning control parameters based on ankle augmentation power affects walking efficiency.
• Employ a multi-joint soft exosuit designed for human use.
• Tune control parameters specifically to enhance ankle augmentation power.
• Analyze wearer's walking economy using subject-specific adjustments.
• The exosuit significantly improved walking economy.
• Specific control parameter tuning reduced the energy cost of walking under load.
• Further studies are proposed to explore biomechanics and energetics in more detail.