Special Issue: ICCAS 2024

International Journal of Control, Automation, and Systems 2025; 23(2): 370-381

https://doi.org/10.1007/s12555-024-0518-8

© The International Journal of Control, Automation, and Systems

Development of Neutral Zone-based Lumbar Support Wearable Robot Utilizing an Electroadhesive Clutch

Garam Lee, Eunho Sung, Joowan Kim*, Jaeheung Park, and Keewon Kim*

Seoul National University Hospital

Abstract

This paper presents the development of an ultra-lightweight, ultra-low-power lumbar support robotic device designed to alleviate low back pain (LBP) in elderly and weak individuals. The robotic device utilizes an electroadhesive clutch, which reduces energy consumption and weight compared to conventional actuators. The proposed robotic device employs dynamic control to adjust support based on the wearer’s lumbar movement, using an inertial measurement unit (IMU) sensor to modulate intra-abdominal pressure (IAP) and enhance spinal stability. The concept of the neutral zone (NZ) is applied to determine the range of motion where the robotic device operates, ensuring that the clutch is disengaged within the NZ where no support is needed and engaged outside the NZ to provide necessary assistance. Experiments conducted on a dummy model simulating human lumbar movements demonstrated the robotic device’s effectiveness in modulating abdominal pressure and providing adaptive lumbar support. This indicates its potential as an effective assistive device compared to conventional braces.

Keywords Electroadhesive clutch, low back pain, lumbar support, neutral zone, spine stability, wearable robot.

Article

Special Issue: ICCAS 2024

International Journal of Control, Automation, and Systems 2025; 23(2): 370-381

Published online February 1, 2025 https://doi.org/10.1007/s12555-024-0518-8

Copyright © The International Journal of Control, Automation, and Systems.

Development of Neutral Zone-based Lumbar Support Wearable Robot Utilizing an Electroadhesive Clutch

Garam Lee, Eunho Sung, Joowan Kim*, Jaeheung Park, and Keewon Kim*

Seoul National University Hospital

Abstract

This paper presents the development of an ultra-lightweight, ultra-low-power lumbar support robotic device designed to alleviate low back pain (LBP) in elderly and weak individuals. The robotic device utilizes an electroadhesive clutch, which reduces energy consumption and weight compared to conventional actuators. The proposed robotic device employs dynamic control to adjust support based on the wearer’s lumbar movement, using an inertial measurement unit (IMU) sensor to modulate intra-abdominal pressure (IAP) and enhance spinal stability. The concept of the neutral zone (NZ) is applied to determine the range of motion where the robotic device operates, ensuring that the clutch is disengaged within the NZ where no support is needed and engaged outside the NZ to provide necessary assistance. Experiments conducted on a dummy model simulating human lumbar movements demonstrated the robotic device’s effectiveness in modulating abdominal pressure and providing adaptive lumbar support. This indicates its potential as an effective assistive device compared to conventional braces.

Keywords: Electroadhesive clutch, low back pain, lumbar support, neutral zone, spine stability, wearable robot.

IJCAS
February 2025

Vol. 23, No. 2, pp. 359~682

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