Lower limb biomechanics of fully trained exoskeleton users reveal complex mechanisms behind the reductions in energy cost with human-in-the-loop optimization

Lower limb biomechanics of fully trained exoskeleton users reveal complex mechanisms behind the reductions in energy cost with human-in-the-loop optimization

Poggensee, K. (TU Delft Human-Robot Interaction; Erasmus MC; Stanford University)
Collins, Steven H. (Stanford University)

2024

Exoskeletons that assist in ankle plantarflexion can improve energy economy in locomotion. Characterizing the joint-level mechanisms behind these reductions in energy cost can lead to a better understanding of how people interact with these devices, as well as to improved device design and training protocols. We examined the biomechanical responses to exoskeleton assistance in exoskeleton users trained with a lengthened protocol. Kinematics at unassisted joints were generally unchanged by assistance, which has been observed in other ankle exoskeleton studies. Peak plantarflexion angle increased with plantarflexion assistance, which led to increased total and biological mechanical power despite decreases in biological joint torque and whole-body net metabolic energy cost. Ankle plantarflexor activity also decreased with assistance. Muscles that act about unassisted joints also increased activity for large levels of assistance, and this response should be investigated over long-term use to prevent overuse injuries.

biomechanics
exoskeletons
gait
human-in-the-loop optimization
plantarflexion assistance

http://resolver.tudelft.nl/uuid:00a22e9b-308f-4b83-8cbd-213529211d58

https://doi.org/10.3389/frobt.2024.1283080

2296-9144

Frontiers In Robotics and AI, 11

Institutional Repository

journal article

© 2024 K. Poggensee, Steven H. Collins