All posts by Wyss Institute

By Benjamin Boettner
Along developed riverbanks, physical barriers can help contain flooding and combat erosion. In arid regions, check dams can help retain soil after rainfall and restore damaged landscapes. In construction projects, metal plates can provide support for excavations, retaining walls on slopes, or permanent foundations. All of these applications can be addressed with the use of sheet piles, elements folded from flat material and driven vertically into the ground to form walls and stabilize soil. Proper soil stabilization is key to sustainable land management in industries such as construction, mining, and agriculture; and land degradation, the loss of ecosystem services from a given terrain, is a driver of climate change and is estimated to cost up to $10 trillion annually.

With this motivation, a team of roboticists at Harvard’s Wyss Institute for Biologically Inspired Engineering has developed a robot that can autonomously drive interlocking steel sheet piles into soil. The structures that it builds could function as retaining walls or check dams for erosion control. The study will be presented at the upcoming 2019 IEEE International Conference on Robotics and Automation.

Conventional sheet pile driving processes are extremely energy intensive. Only a fraction of the weight of typical heavy machinery is used for applying downward force. The Wyss team’s “Romu” robot, on the other hand, is able to leverage its own weight to drive sheet piles into the ground. This is made possible by each of its four wheels being coupled to a separate linear actuator, which also allows it to adapt to uneven terrain and ensure that piles are driven vertically. From a raised position, Romu grips a sheet pile and then lowers its chassis, pressing the pile into the soil with the help of an on-board vibratory hammer. By gripping the pile again at a higher position and repeating this process, the robot can drive a pile much taller than its own range of vertical motion. After driving a pile to sufficient depth, Romu advances and installs the next pile such that it interlocks with the previous one, thereby forming a continuous wall. Once it has used all of the piles it carries, it may return to a supply cache to restock.

The study grew out of previous work at the Wyss Institute on teams or swarms of robots for construction applications. In work inspired by mound-building termites, Core Faculty member Radhika Nagpal and Senior Research Scientist Justin Werfel designed an autonomous robotic construction crew called TERMES, whose members worked together to build complex structures from specialized bricks. Further work by Werfel and researcher Nathan Melenbrink explored strut-climbing robots capable of building cantilevering truss structures, addressing applications like bridges. However, neither of these studies addressed the challenge of anchoring structures to the ground. The Romu project began as an exploration of methods for automated site preparation and installation of foundations for the earlier systems to build on; as it developed, the team determined that such interventions could also be directly applicable to land restoration tasks in remote environments.

“In addition to tests in the lab, we demonstrated Romu operating on a nearby beach,” said Melenbrink. “This kind of demonstration can be an icebreaker for a broader conversation around opportunities for automation in construction and land management. We’re interested in engaging with experts in related fields who might see potential benefit for the kind of automated interventions we’re developing.”

The researchers envision large numbers of Romu robots working together as a collective or swarm. They demonstrated in computer simulations that teams of Romu robots could make use of environmental cues like slope steepness in order to build walls in effective locations, making efficient use of limited resources. “The swarm approach gives advantages like speedup through parallelism, robustness to the loss of individual robots, and scalability for large teams,” said Werfel. “By responding in real-time to the conditions they actually encounter as they work, the robots can adapt to unexpected or changing situations, without needing to rely on a lot of supporting infrastructure for abilities like site surveying, communication, or localization.”

“The name Terramanus ferromurus (Romu) is a nod to the concept of ‘machine ecology’ in which autonomous systems can be introduced into natural environments as new participants, taking specific actions to complement and promote human environmental stewardship,” said Melenbrink. In the future, the Terramanus “genus” could be extended by additional robots carrying out different tasks to protect or restore ecosystem services. Based on their findings, the team now is interested in investigating interventions ranging from groundwater retention structures for supporting agriculture in arid regions, to responsive flood barrier construction for hurricane preparedness. Future versions of the robot could perform other interventions such as spraying soil-binding agents or installing silt fencing, such that a family of these robots could act to stabilize soil in a wide range of situations.

In many scenarios for environmental protection or restoration, the opportunity for action is limited by the availability of human labor and by site access for heavy machinery. Smaller, more versatile construction machines could provide a solution. “Clearly, the needs of many degraded landscapes are not being met with the currently available tools and techniques,” said Melenbrink. “Now, 100 years after the dawn of the heavy equipment age, we’re asking whether there might be more resilient and responsive ways to approach land management and restoration.”

“This sheet pile driving robot with its demonstrated ability to perform in a natural setting signals a path on which the Wyss Institute’s robotics and swarm robotics capabilities can be brought to bear on both natural and man-made environments where conventional machinery, man power limitations, or cost is inadequate to prevent often disastrous consequences. This robot also could address disaster situations where walling off dangerous chemical spills or released radioactive fluids makes it difficult or impossible for humans to intervene,” said Wyss Institute Founding Director Donald Ingber, M.D., Ph.D., who is also the Judah Folkman Professor of Vascular Biology at HMS and the Vascular Biology Program at Boston Children’s Hospital, as well as Professor of Bioengineering at SEAS.

By Caitlin McDermott-Murphy, Harvard University Department of Chemistry and Chemical Biology

A soft robot, attached to a balloon and submerged in a transparent column of water, dives and surfaces, then dives and surfaces again, like a fish chasing flies. Soft robots have performed this kind of trick before. But unlike most soft robots, this one is made and operated with no hard or electronic parts. Inside, a soft, rubber computer tells the balloon when to ascend or descend. For the first time, this robot relies exclusively on soft digital logic.

In the last decade, soft robots have surged into the metal-dominant world of robotics. Grippers made from rubbery silicone materials are already used in assembly lines: Cushioned claws handle delicate fruit and vegetables like tomatoes, celery, and sausage links or extract bottles and sweaters from crates. In laboratories, the grippers can pick up slippery fish, live mice, and even insects, eliminating the need for more human interaction.

Soft robots already require simpler control systems than their hard counterparts. The grippers are so compliant, they simply cannot exert enough pressure to damage an object and without the need to calibrate pressure, a simple on-off switch suffices. But until now, most soft robots still rely on some hardware: Metal valves open and close channels of air that operate the rubbery grippers and arms, and a computer tells those valves when to move.

Now, researchers have built a soft computer using just rubber and air. “We’re emulating the thought process of an electronic computer, using only soft materials and pneumatic signals, replacing electronics with pressurized air,” says Daniel J. Preston, first author on a paper published in PNAS and a postdoctoral researcher working with George Whitesides, a Founding Core Faculty member of Harvard’s Wyss Institute for Biologically Inspired Engineering, and the Woodford L. and Ann A. Flowers University Professor at Harvard University’s Department of Chemistry and Chemical Biology.

To make decisions, computers use digital logic gates, electronic circuits that receive messages (inputs) and determine reactions (outputs) based on their programming. Our circuitry isn’t so different: When a doctor strikes a tendon below our kneecap (input), the nervous system is programmed to jerk (output).

Preston’s soft computer mimics this system using silicone tubing and pressurized air. To achieve the minimum types of logic gates required for complex operations—in this case, NOT, AND, and OR—he programmed the soft valves to react to different air pressures. For the NOT logic gate, for example, if the input is high pressure, the output will be low pressure. With these three logic gates, Preston says, “you could replicate any behavior found on any electronic computer.”

The bobbing fish-like robot in the water tank, for example, uses an environmental pressure sensor (a modified NOT gate) to determine what action to take. The robot dives when the circuit senses low pressure at the top of the tank and surfaces when it senses high pressure at depth. The robot can also surface on command if someone pushes an external soft button.

Robots built with only soft parts have several benefits. In industrial settings, like automobile factories, massive metal machines operate with blind speed and power. If a human gets in the way, a hard robot could cause irreparable damage. But if a soft robot bumps into a human, Preston says, “you wouldn’t have to worry about injury or a catastrophic failure.” They can only exert so much force.

But soft robots are more than just safer: They are generally cheaper and simpler to make, light weight, resistant to damage and corrosive materials, and durable. Add intelligence and soft robots could be used for much more than just handling tomatoes. For example, a robot could sense a user’s temperature and deliver a soft squeeze to indicate a fever, alert a diver when the water pressure rises too high, or push through debris after a natural disaster to help find victims and offer aid.

Soft robots can also venture where electronics struggle: High radiative fields, like those produced after a nuclear malfunction or in outer-space, and inside Magnetic Resonance Imaging (MRI) machines. In the wake of a hurricane or flooding, a hardy soft robot could manage hazardous terrain and noxious air. “If it gets run over by a car, it just keeps going, which is something we don’t have with hard robots,” Preston says.

Preston and colleagues are not the first to control robots without electronics. Other research teams have designed microfluidic circuits, which can use liquid and air to create nonelectronic logic gates. One microfluidic oscillator helped a soft octopus-shaped robot flail all eight arms.

Yet, microfluidic logic circuits often rely on hard materials like glass or hard plastics, and they use such thin channels that only small amounts of air can move through at a time, slowing the robot’s motion. In comparison, Preston’s channels are larger—close to one millimeter in diameter—which enables much faster air flow rates. His air-based grippers can grasp an object in a matter of seconds.

Microfluidic circuits are also less energy efficient. Even at rest, the devices use a pneumatic resistor, which flows air from the atmosphere to either a vacuum or pressure source to maintain stasis. Preston’s circuits require no energy input when dormant. Such energy conservation could be crucial in emergency or disaster situations where the robots travel far from a reliable energy source.

The soft, pneumatic robots also offer an enticing possibility: Invisibility. Depending on which material Preston selects, he could design a robot that is index-matched to a specific substance. So, if he chooses a material that camouflages in water, the robot would appear transparent when submerged. In the future, he and his colleagues hope to create autonomous robots that are invisible to the naked eye or even sonar detection. “It’s just a matter of choosing the right materials,” he says.

For Preston, the right materials are elastomers or rubbers. While other fields chase higher power with machine learning and artificial intelligence, the Whitesides team turns away from the mounting complexity. “There’s a lot of capability there,” Preston says, “but it’s also good to take a step back and think about whether or not there’s a simpler way to do things that gives you the same result, especially if it’s not only simpler, it’s also cheaper.”

By Leah Burrows
Children born prematurely often develop neuromotor and cognitive developmental disabilities. The best way to reduce the impacts of those disabilities is to catch them early through a series of cognitive and motor tests. But accurately measuring and recording the motor functions of small children is tricky. As any parent will tell you, toddlers tend to dislike wearing bulky devices on their hands and have a predilection for ingesting things they shouldn’t.

Harvard University researchers have developed a soft, non-toxic wearable sensor that unobtrusively attaches to the hand and measures the force of a grasp and the motion of the hand and fingers.

The research was published in Advanced Functional Materials and is a collaboration between the Wyss Institute for Biologically Inspired Engineering, The Harvard John A. Paulson School of Engineering and Applied Sciences (SEAS), Beth Israel Deaconess Medical Center, and Boston Children’s Hospital.

One novel element of the sensor is a non-toxic, highly conductive liquid solution.

“We have developed a new type of conductive liquid that is no more dangerous than a small drop of salt water,” said Siyi Xu, a graduate student at SEAS and first author of the paper. “It is four times more conductive than previous biocompatible solutions, leading to cleaner, less noisy data.”

The sensing solution is made from potassium iodide, which is a common dietary supplement, and glycerol, which is a common food additive. After a short mixing period, the glycerol breaks the crystal structure of potassium iodide and forms potassium cations (K+) and iodide ions (I-), making the liquid conductive. Because glycerol has a lower evaporation rate than water, and the potassium iodide is highly soluble, the liquid is both stable across a range of temperatures and humidity levels, and highly conductive.

“Previous biocompatible soft sensors have been made using sodium chloride-glycerol solutions but these solutions have low conductivities, which makes the sensor data very noisy, and it also takes about 10 hours to prepare,” said Xu. “We’ve shortened that down to about 20 minutes and get very clean data.”

The design of the sensors also takes the need of children into account. Rather than a bulky glove, the silicon-rubber sensor sits on top of the finger and on the finger pad.

“We often see that children who are born early or who have been diagnosed with early developmental disorders have highly sensitive skin,” said Eugene Goldfield, Ph.D., coauthor of the study, and Associate Faculty Member of the Wyss Institute at Harvard University and an Associate Professor in the Program in Behavioral Sciences at Boston Children’s Hospital and Harvard Medical School. “By sticking to the top of the finger, this device gives accurate information while getting around the sensitively of the child’s hand.”

Goldfield is the Principal investigator of the Flexible Electronics for Toddlers project at the Wyss Institute, which designs modular robotic systems for toddlers born prematurely and at risk for cerebral palsy.

Goldfield and his colleagues currently study motor function using the Motion Capture Lab at SEAS and Wyss. While motion capture can tell a lot about movement, it cannot measure force, which it critical to diagnosing neuromotor and cognitive developmental disabilities.

“Early diagnosis is the name of the game when it comes to treating these developmental disabilities and this wearable sensor can give us a lot of advantages not currently available,” said Goldfield.

This paper only tested the device on adult hands. Next, the researchers plan to scale down the device and test it on the hands of children.

“The ability to quantify complex human motions gives us an unprecedented diagnostic tool,” says senior author Robert Wood, Ph.D., Founding Core Faculty Member of the Wyss Institute and the Charles River Professor of Engineering and Applied Sciences at SEAS. “The focus on the development of motor skills in toddlers presents unique challenges for how to integrate many sensors into a small, lightweight, and unobtrusive wearable device. These new sensors solve these challenges – and if we can create wearable sensors for such a demanding task, we believe that this will also open up applications in diagnostics, therapeutics, human-computer interfaces, and virtual reality.”

This research was also authored by SEAS researcher Daniel M. Vogt; Wyss Institute researchers Wen-Hao Hsu, John Osborne, Timothy Walsh, Jonathan R. Foster, Sarah K. Sullivan, and Andreas Rousing; and Beth Israel Deaconess Medical Center researcher Vincent C. Smith. It was supported by the National Institutes of Health.

PUBLICATION – Advanced Functional Materials : Biocompatible Soft Fluidic Strain and Force Sensors for Wearable Devices
WYSS TECHNOLOGY – “Flexi-mitts”for tracking neurodevelopment in very low birth weight premature infants

By Lindsay Brownell

Jet engines can have up to 25,000 individual parts, making regular maintenance a tedious task that can take over a month per engine. Many components are located deep inside the engine and cannot be inspected without taking the machine apart, adding time and costs to maintenance. This problem is not only confined to jet engines, either; many complicated, expensive machines like construction equipment, generators, and scientific instruments require large investments of time and money to inspect and maintain.

Researchers at Harvard University’s Wyss Institute for Biologically Inspired Engineering and John A. Paulson School of Engineering and Applied Sciences (SEAS) have created a micro-robot whose electroadhesive foot pads, origami ankle joints, and specially engineered walking gait allow it to climb on vertical and upside-down conductive surfaces, like the inside walls of a commercial jet engine. The work is reported in Science Robotics.

“Now that these robots can explore in three dimensions instead of just moving back and forth on a flat surface, there’s a whole new world that they can move around in and engage with,” said first author Sébastien de Rivaz, a former Research Fellow at the Wyss Institute and SEAS who now works at Apple. “They could one day enable non-invasive inspection of hard-to-reach areas of large machines, saving companies time and money and making those machines safer.”

The new robot, called HAMR-E (Harvard Ambulatory Micro-Robot with Electroadhesion), was developed in response to a challenge issued to the Harvard Microrobotics Lab by Rolls-Royce, which asked if it would be possible to design and build an army of micro-robots capable of climbing inside parts of its jet engines that are inaccessible to human workers. Existing climbing robots can tackle vertical surfaces, but experience problems when trying to climb upside-down, as they require a large amount of adhesive force to prevent them from falling.

The team based HAMR-E on one of its existing micro-robots, HAMR, whose four legs enable it to walk on flat surfaces and swim through water. While the basic design of HAMR-E is similar to HAMR, the scientists had to solve a series of challenges to get HAMR-E to successfully stick to and traverse the vertical, inverted, and curved surfaces that it would encounter in a jet engine.

First, they needed to create adhesive foot pads that would keep the robot attached to the surface even when upside-down, but also release to allow the robot to “walk” by lifting and placing its feet. The pads consist of a polyimide-insulated copper electrode, which enables the generation of electrostatic forces between the pads and the underlying conductive surface. The foot pads can be easily released and re-engaged by switching the electric field on and off, which operates at a voltage similar to that required to move the robot’s legs, thus requiring very little additional power. The electroadhesive foot pads can generate shear forces of 5.56 grams and normal forces of 6.20 grams – more than enough to keep the 1.48-gram robot from sliding down or falling off its climbing surface. In addition to providing high adhesive forces, the pads were designed to be able to flex, thus allowing the robot to climb on curved or uneven surfaces.

The scientists also created new ankle joints for HAMR-E that can rotate in three dimensions to compensate for rotations of its legs as it walks, allowing it to maintain its orientation on its climbing surface. The joints were manufactured out of layered fiberglass and polyimide, and folded into an origami-like structure that allows the ankles of all the legs to rotate freely, and to passively align with the terrain as HAMR-E climbs.

Finally, the researchers created a special walking pattern for HAMR-E, as it needs to have three foot pads touching a vertical or inverted surface at all times to prevent it from falling or sliding off. One foot releases from the surface, swings forward, and reattaches while the remaining three feet stay attached to the surface. At the same time, a small amount of torque is applied by the foot diagonally across from the lifted foot to keep the robot from moving away from the climbing surface during the leg-swinging phase. This process is repeated for the three other legs to create a full walking cycle, and is synchronized with the pattern of electric field switching on each foot.

When HAMR-E was tested on vertical and inverted surfaces, it was able to achieve more than one hundred steps in a row without detaching. It walked at speeds comparable to other small climbing robots on inverted surfaces and slightly slower than other climbing robots on vertical surfaces, but was significantly faster than other robots on horizontal surfaces, making it a good candidate for exploring environments that have a variety of surfaces in different arrangements in space. It is also able to perform 180-degree turns on horizontal surfaces.

HAMR-E also successfully maneuvered around a curved, inverted section of a jet engine while staying attached, and its passive ankle joints and adhesive foot pads were able to accommodate the rough and uneven features of the engine surface simply by increasing the electroadhesion voltage.

This iteration of HAMR-E is the first and most convincing step towards showing that this approach to a centimeter-scale climbing robot is possible, and that such robots could in the future be used to explore any sort of infrastructure, including buildings, pipes, engines, generators, and more

ROBERT WOOD

The team is continuing to refine HAMR-E, and plans to incorporate sensors into its legs that can detect and compensate for detached foot pads, which will help prevent it from falling off of vertical or inverted surfaces. HAMR-E’s payload capacity is also greater than its own weight, opening the possibility of carrying a power supply and other electronics and sensors to inspect various environments. The team is also exploring options for using HAMR-E on non-conductive surfaces.

“This iteration of HAMR-E is the first and most convincing step towards showing that this approach to a centimeter-scale climbing robot is possible, and that such robots could in the future be used to explore any sort of infrastructure, including buildings, pipes, engines, generators, and more,” said corresponding author Robert Wood, Ph.D., who is a Founding Core Faculty member of the Wyss Institute as well as the Charles River Professor of Engineering and Applied Sciences at SEAS.

“While academic scientists are very good at coming up with fundamental questions to explore in the lab, sometimes collaborations with industrial scientists who understand real-world problems are required to develop innovative technologies that can be translated into useful products. We are excited to help catalyze these collaborations here at the Wyss Institute, and to see the breakthrough advances that emerge,” said Wyss Founding Director Donald Ingber, M.D., Ph.D., who is also the Judah Folkman Professor of Vascular Biology at Harvard Medical School and the Vascular Biology Program at Boston Children’s Hospital, and Professor of Bioengineering at SEAS.

This study is co-authored by Benjamin Goldberg, Ph.D., Neel Doshi, Kaushik Jayaram, Ph.D., and Jack Zhou from the Wyss Institute and Harvard SEAS.

Support for this research was contributed by the Wyss Institute for Biologically Inspired Engineering at Harvard University, Rolls-Royce, and the US Army Research Office.

By Benjamin Boettner

In the future, smart textile-based soft robotic exosuits could be worn by soldiers, fire fighters and rescue workers to help them traverse difficult terrain and arrive fresh at their destinations so that they can perform their respective tasks more effectively. They could also become a powerful means to enhance mobility and quality of living for people suffering from neurodegenerative disorders and for the elderly.

Conor Walsh’s team at the Wyss Institute for Biologically Inspired Engineering at Harvard University and the Harvard John A. Paulson School of Engineering and Applied Sciences (SEAS) has been at the forefront of developing different soft wearable robotic devices that support mobility by applying mechanical forces to critical joints of the body, including at the ankle or hip joints, or in the case of a multi-joint soft exosuit both. Because of its potential for relieving overburdened solders in the field, the Defense Advanced Research Projects Agency (DARPA) funded the team’s efforts as part of its former Warrior Web program.

While the researchers have demonstrated that lab-based versions of soft exosuits can provide clear benefits to wearers, allowing them to spend less energy while walking and running, there remains a need for fully wearable exosuits that are suitable for use in the real world.

Now, in a study reported in the proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), the team presented their latest generation of a mobile multi-joint exosuit, which has been improved on all fronts and tested in the field through long marches over uneven terrain. Using the same exosuit in a second study published in the Journal of NeuroEngineering and Rehabilitation (JNER), the researchers developed an automatic tuning method to customize its assistance based on how an individual’s body is responding to it, and demonstrated significant energy savings.

The multi-joint soft exosuit consists of textile apparel components worn at the waist, thighs, and calves. Through an optimized mobile actuation system worn near the waist and integrated into a military rucksack, mechanical forces are transmitted via cables that are guided through the exosuit’s soft components to ankle and hip joints. This way, the exosuit adds power to the ankles and hips to assist with leg movements during the walking cycle.

“We have updated all components in this new version of the multi-joint soft exosuit: the apparel is more user-friendly, easy to put on and accommodating to different body shapes; the actuation is more robust, lighter, quieter and smaller; and the control system allows us to apply forces to hips and ankles more robustly and consistently,” said David Perry, a co-author of the ICRA study and a Staff Engineer on Walsh’s team. As part of the DARPA program, the exosuit was field-tested in Aberdeen, MD, in collaboration with the Army Research Labs, where soldiers walked through a 12-mile cross-country course.

“We previously demonstrated that it is possible to use online optimization methods that by quantifying energy savings in the lab automatically individualize control parameters across different wearers. However, we needed a means to tune control parameters quickly and efficiently to the different gaits of soldiers at the Army outside a laboratory,” said Walsh, Ph.D., Core Faculty member of the Wyss Institute, the John L. Loeb Associate Professor of Engineering and Applied Sciences at SEAS, and Founder of the Harvard Biodesign Lab.

In the JNER study, the team presented a suitable new tuning method that uses exosuit sensors to optimize the positive power delivered at the ankle joints. When a wearer begins walking, the system measures the power and gradually adjusts controller parameters until it finds those that maximize the exosuit’s effects based on the wearer’s individual gait mechanics. The method can be used as a proxy measure for elaborate energy measurements.

“We evaluated the metabolic parameters in the seven study participants wearing exosuits that underwent the tuning process and found that the method reduced the metabolic cost of walking by about 14.8% compared to walking without the device and by about 22% compared to walking with the device unpowered,” said Sangjun Lee, the first author of both studies and a Graduate Student with Walsh at SEAS.

“These studies represent the exciting culmination of our DARPA-funded efforts. We are now continuing to optimize the technology for specific uses in the Army where dynamic movements are important; and we are exploring it for assisting workers in factories performing strenuous physical tasks,” said Walsh. “In addition, the field has recognized there is still a lot to understand on the basic science of co-adaptation of humans and wearable robots. Future co-optimization strategies and new training approaches could help further enhance individualization effects and enable wearers that initially respond poorly to exosuits to adapt to them as well and benefit from their assistance”.

“This research marks an important point in the Wyss Institute’s Bioinspired Soft Robotics Initiative and its development of soft exosuits in that it opens a path on which robotic devices could be adopted and personalized in real world scenarios by healthy and disabled wearers,” said Wyss Institute Founding Director Donald Ingber, M.D., Ph.D., who is also the Judah Folkman Professor of Vascular Biology at HMS and the Vascular Biology Program at Boston Children’s Hospital, and Professor of Bioengineering at SEAS.

Additional members of Walsh’s team were authors on either or both studies. Nikos Karavas, Ph.D., Brendan T. Quinlivan, Danielle Louise Ryan, Asa Eckert-Erdheim, Patrick Murphy, Taylor Greenberg Goldy, Nicolas Menard, Maria Athanassiu, Jinsoo Kim, Giuk Lee, Ph.D., and Ignacio Galiana, Ph.D., were authors on the ICRA study; and Jinsoo Kim, Lauren Baker, Andrew Long, Ph.D., Nikos Karavas, Ph.D., Nicolas Menard, and Ignacio Galiana, Ph.D., on the JNER study. The studies, in addition to DARPA’s Warrior Web program, were funded by Harvard’s Wyss Institute and SEAS.

• WYSS TECHNOLOGY – Soft Exosuits
• PUBLICATION – Journal of NeuroEngineering and Rehabilitation: Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking
• PUBLICATION – 2018 IEEE International Conference on Robotics and Automation (ICRA): Autonomous Multi-Joint Soft Exosuit for Assistance with Walking Overground