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chung-exosuit-adaptive-assistance Restricted Exo evaluation

Harvard Back Exosuit: Scaling Assistance to Changing Box Weights

Chung J., Quirk D.A., Cherin J.M., Friedrich D., Kim D., Walsh C.J.

Harvard University / Korea University · 2025 · United States

Evaluation of adaptive back-exosuit assistance that scales to box weight, including a camera/ML-based weight-detection controller: 15 + 6 participants transferred 2/8/14 kg boxes (9,600 lifts) while EMG, IMU, mocap, force-plate and perceptual data were recorded (Scientific Reports, 2025). Datasets and code available from the corresponding author upon reasonable request.

EMGIMUOptical mocapForce plateVideoLiftingCarryingWalking
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Details

Subjects
n = 21 · 14M / 7F
Setting
Laboratory (controlled or simulated)
Protocol / load
Color-coded 2/8/14 kg box transfers with walking, bending and obstacle maneuvering; 9,600 lifts total
Equipment
EMG (2148 Hz), IMUs (100-200 Hz), chest-mounted 180° fisheye camera (100 Hz) for ML weight estimation, 22-camera mocap (200 Hz), force plates (200 Hz), exosuit load cells
Sampling
emg 2148 Hz · mocap 200 Hz · force_plate 200 Hz
License
Data and code from corresponding author upon reasonable request
Keywords
exoskeleton, back, exosuit, adaptive-control, machine-learning, lifting
Added to catalog
2026-09-01

Publications

Exoskeleton

Record type
Device evaluation
Device(s)
Harvard soft back exosuit
Body region
Back
Actuation
Active
Study design
Adaptive controllers (A-ADPT, DA-ADPT, camera/ML-based WDA-ADPT) vs. non-assistive SLACK condition, variable-weight box transfer
Outcomes
Muscle activity (EMG), Kinematics, Kinetics / assistive forces, Subjective ratings

This record is part of the exoskeleton collection.

Cite

Cite the dataset as its authors request (check the source page for an official citation); this BibTeX is a convenience starting point.

@misc{chung-exosuit-adaptive-assistance,
  author = {Chung, J. and Quirk, D.A. and Cherin, J.M. and Friedrich, D. and Kim, D. and Walsh, C.J.},
  title  = {{Harvard Back Exosuit: Scaling Assistance to Changing Box Weights}},
  year   = {2025},
  url    = {https://doi.org/10.1038/s41598-025-94726-3},
}