User-Centered Configuration of Soft Hip Flexion Exosuit Designs to Assist Individuals with Multiple Sclerosis Through Simulated Human-in-the-Loop Optimization

Soft exosuits hold promise as assistive technology for people with gait deficits owing to a variety of causes. A key aspect of providing useful assistance is to keep the human user at the center of all considerations made in the design, configuration, and prescribed use of an assistive device. This work details a method for informing the configuration of a soft hip flexion exosuit by 1) modeling the user's shape and movements in order to simulate the mechanical interaction of the exosuit and user, 2) incorporating the mechanical effects of the exosuit into a muscle-driven musculoskeletal gait simulation, and 3) using the results of these simulations to define a cost function that is minimized via Bayesian optimization. This process is carried out for models of four different people with multiple sclerosis, and the final optimized configurations for each subject are compared. For all users, the estimated metabolic cost of transport was reduced below baseline, no-device levels. This work represents a step toward more individualized, user-centric modeling of assistive devices, and demonstrates a system for informing the physical configuration of an exosuit on a case-by-case basis using real patient data.