Biomechanics Commons^™

Reducing The Metabolic Cost Of Walking With An Ankle Exoskeleton: Interaction Between Actuation Timing And Power, Samuel Galle, Philippe Malcolm, Steven Hartley Collins, Dirk De Clercq

Journal Articles

Background

Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton.

Methods

Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed …

Biomechanical Comparison Of A Rounded Outsole Shoe And Traditional Outsole Shoe, Sarah Horsch

UNLV Theses, Dissertations, Professional Papers, and Capstones

The purpose of the study was to determine the effects of shoe outsole design on maximum vertical acceleration and select kinematic parameters during level and uphill walking across phases of stance. Twelve participants, 7 males (75.1±9.3 kg, 173.6±3.6 cm, 22.9±3.5 yrs) and 5 females (56.5±5.1 kg, 158.3±4.5 cm, 25.4±11.1 yrs) granted written consent and preferred walking speed was determined. An accelerometer (480 Hz) was attached to the distal leg to measure maximum leg acceleration (Aleg) and an electrogoniometer (480 Hz) was placed on the back to measure sagittal lumbar motion (LumbarROM). Sagittal video capture (60 Hz) included thigh range of …

Kinematic Effects Of Stride Length Perturbations On System Com Horizontal Velocity During Locomotion, Josh Bailey, Andrew Nordin, Janet Dufek, D. Lee

Interdisciplinary Research Scholarship Day

PURPOSE: To investigate the kinematic effect on the systems’ center of mass horizontal velocity in response to stride length perturbations. METHODS: Twelve healthy adults (23.1±7.71 yrs; 1.69±0.1 m; 66.82±12.6 kg; leg length 894.7±66.1 mm) performed 5 trials of preferred speed walking (PW) and running (PR)followed by 5 stride length perturbations based on percentages of leg length (60%, 80%, 100%, 120% and 140%). 3D kinematic analysis was completed using a 12-camera infrared motion capture system (Vicon, 200hz). Dependent variables computer for each condition included: center of mass horizontal velocity at the highest vertical position (COMHVhi) and at the lowest vertical position …

Step Length Perturbations Alter Variations In Center Of Mass Horizontal Velocity, Josh Bailey, Andrew Nordin, D. Lee, Janet Dufek

Interdisciplinary Research Scholarship Day

PURPOSE: The purpose of the study was to investigate the effects of SL perturbations on system COM forward velocity (vx) during walking gait. METHODS: Eight healthy adults (23.5±3.6 yrs; 1.72±0.18 m; 73.11±15.29 kg) performed 5 trials of preferred speed walking (PW) and running (PR) followed by 5 stride length perturbations based on percentages of leg length (LL: 60%, 80%, 100%, 120% and 140%). 3D kinematic analysis was completed using a 12-camera infrared motion capture system (Vicon MX T40-S, 200Hz). Data filtering and interpolation included a low pass, 4th order Butterworth filter (cutoff frequency 15Hz) and cubic (3rd order spline). Maximum …

An Informational Algorithm As The Basis For Perception-Action Control Of The Instantaneous Axes Of The Knee, Wangdo Kim, Margarida M. Espanha, António P. Veloso, Duarte Araújo, Filipa João, Luis Carrão, Sean S. Kohles

Mechanical and Materials Engineering Faculty Publications and Presentations

Traditional locomotion studies emphasize an optimization of the desired movement trajectories while ignoring sensory feedback. We propose an information based theory that locomotion is neither triggered nor commanded but controlled. The basis for this control is the information derived from perceiving oneself in the world. Control therefore lies in the human-environment system. In order to test this hypothesis, we derived a mathematical foundation characterizing the energy that is required to perform a rotational twist, with small amplitude, of the instantaneous axes of the knee (IAK). We have found that the joint’s perception of the ground reaction force may be replaced …