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Wearable Robotics

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  • Lecturer: Nathanaël Jarrassé & Xavier Bonnet  (jarrasse@isir.upmc.fr Xavier.BONNET@ensam.eu)
  • Course code: UM5RBM32 
  • Student workload: 6 h of lectures, 16 h of labs
  • Credits: 3 ECTS
  • Specialization tracks: ROBOT (elective) SI MeDH
  • Semester offered: S1 S2 S3 S4
  • Language of instruction: French English
  • Targeted audience: Eng. Sc. department Other : ENSAM
  • Localization : PMC Campus Other :  

Course Overview

Wearable robotics involves portable technological devices designed to assist movements and enhance human physical capabilities. These innovations present crucial challenges in terms of safety and integration while offering significant opportunities for medical rehabilitation, industrial productivity, and quality of life improvement. Wearable robotics face challenges in miniaturization, energy autonomy, material flexibility and user interfaces.

Mots-clés : Werable robotics

Prerequisites

Students should have previously acquired the following prerequisites to follow this course:

  • Trigonometry
  • Basic kinematics/dynamics of rigid bodies
  • Basic knowledge of control systems (PID control)

Intended Learning Outcomes

By the end of this course, students will be able to:

  1. Develop a comprehensive understanding of wearable robotics, including key concepts, current research, industry applications, and ethical considerations.
  2. Utilize traditional sensors for intent detection and measure motor activity with embedded systems. (inertial, effort, myoelectric)
  3. Implement and evaluate interaction control strategies (impedance, admittance, effort).
  4. Establish evaluation protocols for device impact based on literature standards.
  5. Select appropriate control strategies based on application needs and user capabilities.
  6. Dimension actuators for force versus reversibility, considering reduction and transparency.
  7. Design and implement devices with appropriate instrumentation and interfaces, compensating for negative effects like inertia and friction.

Indicative Teaching Sequence and Methods

Week C/TD/TP* Content Preparation Learn.\ outc.
S1 C1-C2  (2x3h)   Two  coursesthat explores the application areas of wearable robotics, introduces the requirements for embedded systems interacting with the human body, covers the technological complexity from passive to active systems, and discusses both traditional sensor/actuators technologies and the latest advancements in the field. Special emphasis will be placed on prosthetics and exoskeletons for both upper and lower limbs. ENSAM and SU AAV1, AAV2, AAV6
S2 C1-C2 "   AAV1, AAV2, AAV6
S3 TP1 (4h) Students will learn to measure human movement using embedded sensors, specifically focusing on IMU (Inertial Measurement Units). Practical exercises will involve real-time monitoring and data interpretation to apply these measurements in wearable robotics applications. ENSAM AAV2
S4 TP2 (4h) Design and implement software concepts (dynamic systems modeling, open/closed loop control and PID controller). Students will learn about the main control loops used in wearable robotics systems, such as open-loop feedforward control for gravity compensation in quasi-static conditions. SU AAV2, AAV3, AAV4
S5        
S6 TP3 and TP4 This practical work, conducted over two sessions, focuses on gait control through the modeling of a State Machine. The objective is to implement a control algorithm capable of managing the different phases of the gait cycle (stance, swing, etc.) for a leg prosthesis, specifically targeting the ankle joint. Students will  implement the entire control chain (including the state machine) onto the active Synsys prosthesis.  ENSAM  
S7        
S8 TP5 Electromyography (EMG) signals and pattern recognition (classification). Students acquire EMG signals (using devices like Myoband) and implement classification algorithms to interpret muscle activity patterns. The objective is to map these patterns to specific intentions or movements, which is crucial for commanding a prosthesis. SU AAV2, AAV5
S9 TP6 Control Implementation on an Exoskeleton … SU AAV3, AAV7
S10        
S11        
S12        
S13        
S14        
S15        
  • C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.

Indicative Assessment of Intended Learning Outcomes (1st session)

Week Individ./group In-person/remote Type of exam Evaluated outcomes Scale %
S3 Group In-person TP AAV1, AAV2, AAV3 25%
S6 Group In-person TP AAV1, AAV2, AAV3, AAV5 50%
S10 Individual In-person Quiz AAV1, AAV2, AAV3, AAV5 25%

2nde session

Session Individ./group In-person/remote Type of exam Evaluated outcomes Scale %

Logo SDI Date of generation of this unit description: 06/10/2026 Logo SDI