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Abstract Experiential learning in biomedical engineering curricula is a critical component to developing graduates who are equipped to contribute to technical design tasks in their careers. This paper presents the development and implementation of an undergraduate and graduate-level soft material robotics design course focused on applications in medical device design. The elective course, offered in a bioengineering department, includes modules on technical topics and hands-on projects relevant to readings, all situated within a human-centered design course. After learning and using first principles governing soft robot design and exploring literature in soft robotics, students propose a new advance in the field in a hands-on design and prototype project. The course described here aims to create a structure to engage students in fabrication and the design approaches taken by practitioners in a specific field, applied here in soft robotics, but applicable to other areas of biomedical engineering. This teaching tips article details the pedagogical tools used to facilitate design and collaboration within the course. Additionally, we aim to highlight ways in which the course creates (1) opportunities to engage undergraduates in design in preparation for capstone courses, (2) outward facing opportunities to connect with practitioners in the field, and (3) the ability to adapt this hands-on experience within a typical lecture structure as well as a hybrid online and in-person offering, thus expanding its utility in bioengineering departments. We reflect on course elements that can inform future design-based course offerings in soft robotics and other design-based multidisciplinary fields in bioengineering. 

Abstract IntroductionHigh-intensity gait training is widely recognized as an effective rehabilitation approach after stroke. Soft robotic exosuits that enhance post-stroke gait mechanics have the potential to improve the rehabilitative outcomes achieved by high-intensity gait training. The objective of thisdevelopment-of-conceptpilot crossover study was to evaluate the outcomes achieved by high-intensity gait training with versus without soft robotic exosuits. MethodsIn this 2-arm pilot crossover study, four individuals post-stroke completed twelve visits of speed-based, high-intensity gait training: six consecutive visits of Robotic Exosuit Augmented Locomotion (REAL) gait training and six consecutive visits without the exosuit (CONTROL). The intervention arms were counterbalanced across study participants and separated by 6 + weeks of washout. Walking function was evaluated before and after each intervention using 6-minute walk test (6MWT) distance and 10-m walk test (10mWT) speed. Moreover, 10mWT speeds were evaluated before each training visit, with the time-course of change in walking speed computed for each intervention arm. For each participant, changes in each outcome were compared to minimal clinically-important difference (MCID) thresholds. Secondary analyses focused on changes in propulsion mechanics and associated biomechanical metrics. ResultsLarge between-group effects were observed for 6MWT distance (d = 1.41) and 10mWT speed (d = 1.14). REAL gait training resulted in an average pre-post change of 68 ± 27 m (p = 0.015) in 6MWT distance, compared to a pre-post change of 30 ± 16 m (p = 0.035) after CONTROL gait training. Similarly, REAL training resulted in a pre-post change of 0.08 ± 0.03 m/s (p = 0.012) in 10mWT speed, compared to a pre-post change of 0.01 ± 06 m/s (p = 0.76) after CONTROL. For both outcomes, 3 of 4 (75%) study participants surpassed MCIDs after REAL training, whereas 1 of 4 (25%) surpassed MCIDs after CONTROL training. Across the training visits, REAL training resulted in a 1.67 faster rate of improvement in walking speed. Similar patterns of improvement were observed for the secondary gait biomechanical outcomes, with REAL training resulting in significantly improved paretic propulsion for 3 of 4 study participants (p < 0.05) compared to 1 of 4 after CONTROL. ConclusionSoft robotic exosuits have the potential to enhance the rehabilitative outcomes produced by high-intensity gait training after stroke. Findings of thisdevelopment-of-conceptpilot crossover trial motivate continued development and study of the REAL gait training program.