Reducing muscle effort in walking through powered exoskeletons

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS

Volumn , Issue , 2012, Pages 3926-3929

  Lenzi, T ^a   Zanotto, D ^b   Stegall, P ^b   Carrozza, M C ^a   Agrawal, S K ^b  

^a SCUOLA SUPERIORE SANT ANNA   (Italy)

^b UNIVERSITY OF DELAWARE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ASSISTIVE; GAIT FEATURES; HEALTHY SUBJECTS; LOWER LIMB; NOMINAL TORQUES; WALKING THROUGH;

MUSCLE;

WALKING AIDS;

ARTICLE; CLINICAL TRIAL; GAIT; HUMAN; PHYSIOLOGY; SELF HELP; SKELETAL MUSCLE; WALKING;

GAIT; HUMANS; MUSCLE, SKELETAL; SELF-HELP DEVICES; WALKING;

EID: 84870835843     PISSN: 1557170X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/EMBC.2012.6346825     Document Type: Conference Paper

References (19)

1. Lewis CL, Sahrmann SA, Moran DW. Anterior hip joint force increases with hip extension, decreased gluteal force, or decreased iliopsoas force. Journal of Biomechanics. 2007; 40(16):3725-3731.
2. Ferris DP, Sawicki GS, Daley MA. A Physiologist's Perspective on Robotic Exoskeletons for Human Locomotion. IJHR. 2007; 4:507-28.
3. Kao PC, Lewis CL, Ferris DP. Invariant ankle moment patterns when walking with and without a robotic ankle exoskeleton. Journal of Biomechanics, 2010; 43(2):203-9.
4. Lewis CL, Ferris DP. Invariant hip moment pattern while walking with a robotic hip exoskeleton. J. of Biomech., 2011; 44(5):789-93.
5. Sawicki GS and Ferris DP (2009) Powered ankle exoskeletons reveal the metabolic cost of plantar flexor mechanical work during walking with longer steps at constant step frequency. J of Exp. Biol., 212:21-31.
6. Aguirre-Ollinger, G.; Colgate, J.E.; Peshkin, M.A.; Goswami, A.;, "Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments," IEEE TNSRE, 20(1), 68-77, 2012.
7. Kawamoto H., Sankai Y.: Power assist method based on Phase Sequence and muscle force condition for HAL. Advanced Robotics 19(7): 717-734 (2005).
8. Ronsse R., Lenzi T., Vitiello N., Koopman B., van Asseldonk E., De Rossi S.M.M, van den Kieboom J., van der Kooij H., Carrozza M.C. and Ijspeert A.J., Oscillator-based assistance of cyclical movements: model-based and model-free approaches, MBEC, 49(10):1173-1185.
9. Righetti L, Buchli J., and Ijspeert A. J., Dynamic Hebbian learning in adaptive frequency oscillators, Physica D, 216, 269-281, 2006.
10. Winfree, K.N.; Stegall, P.; Agrawal, S.K.;, "Design of a minimally constraining, passively supported gait training exoskeleton: ALEX II," IEEE ICORR 2011.
11. Winter DA, Yack HJ. EMG profiles during normal human walking: stride-to-stride and inter-subject variability Electroencephalogr Clin Neurophysiol. 1987 Nov; 67(5):402-11.
12. Agrawal A. and Agrawal S.K. Design of gravity balancing leg orthosis using non-zero free length springs. Mechanism and Machine Theory, 40(6):693-709, 2005.
13. Pandy M.G., Andriacchi T.P., Muscle and Joint Function in Human Locomotion, Annual Review of Biomedical Engineering 12: 401-433.
14. Ronsse R, Vitiello N, Lenzi T, van den Kieboom J, Carrozza MC, Ijspeert AJ., Human-robot synchrony: flexible assistance using adaptive oscillators, IEEE TBME, 2011 58(4):1001-12.
15. Kerrigan DC, Todd MK, Della CU, Lipsitz LA, Collins JJ. Biomechanical gait alterations independent of speed in the healthy elderly: evidence for specific limiting impairments. Arch. Phys. Med. Rehabil. 1998; 79:317-322.
16. Mueller MJ, Sinacore DR, Hoogstrate S, Daly L. Hip and ankle walking strategies: effect on peak plantar pressures and implications for neuropathic ulceration. Arch. Phys. Med. Rehabil. 1994b; 75:1196-1200.
17. DeVita P, Hortobagyi T. Age causes a redistribution of joint torques and powers during gait. J. Appl.Physiol. 2000; 88:1804-1811.
18. Judge JO, Davis RB, III, Ounpuu S. Step length reductions in advanced age: the role of ankle and hip kinetics. J. Gerontol. A Biol. Sci. Med. Sci. 1996; 51:M303-M312.
19. Lewis CL, Ferris DP. Walking with increased push-off decreases hip moment. Journal of Biomechanics. 2008; 41:2082-2089.