@conference {224781,
	title = {Soft Wearable Motion Sensing Suit for Lower Limb Biomechanics Measurements},
	booktitle = {IEEE Int. Conf. on Robotics and Automation},
	year = {2013},
	month = {May},
	address = {Karlsruhe, Germany},
	abstract = {Motion sensing has played an important role inthe study of human biomechanics as well as the entertainmentindustry. Although existing technologies, such as optical orinertial based motion capture systems, have relatively highaccuracy in detecting body motions, they still have inherentlimitations with regards to mobility and wearability. In thispaper, we present a soft motion sensing suit for measuring lowerextremity joint motion. The sensing suit prototype includes apair of elastic tights and three hyperelastic strain sensors. Thestrain sensors are made of silicone elastomer with embeddedmicrochannels filled with conductive liquid. To form a sensingsuit, these sensors are attached at the hip, knee, and ankle areasto measure the joint angles in the sagittal plane. The prototypemotion sensing suit has significant potential as an autonomoussystem that can be worn by individuals during many activitiesoutside the laboratory, from running to rock climbing. In thisstudy we characterize the hyperelastic sensors in isolation todetermine their mechanical and electrical responses to strain,and then demonstrate the sensing capability of the integratedsuit in comparison with a ground truth optical motion capturesystem. Using simple calibration techniques, we can accuratelytrack joint angles and gait phase. Our efforts result in acalculated trade off: with a maximum error less than 8\%, thesensing suit does not track joints as accurately as optical motioncapture, but its wearability means that it is not constrained touse only in a lab.},
	url = {http://micro.seas.harvard.edu/papers/Menguc_ICRA13.pdf},
	author = {Yigit Menguc and Yong-Lae Park and Ernesto Martinez-Villalpando and Patrick Aubin and Miriam Zisook and Leia Stirling and Wood, Robert J. and Conor J Walsh}
}
