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We propose a simulation framework for gait assistance with ankle pathologies. We first construct the neu-romuscular walking model, then design the parameters for assistance torques for stance and swing legs. The parameter values are determined by performing dynamic optimizations which takes into account the human-exoskeleton interactive dynamics. The simulated energy expenditure and kinematic data...
This work presents a comparison between two optimization methods used to compute the muscle activation levels and corresponding forces that drives a set of generalized coordinates towards a set of desired trajectories. To improve the performance of musculoskeletal optimizations a supplemental set of actuators is often included in addition to the modeled muscles. Given a dynamic musculoskeletal model...
While humanoid feet are made of rigid plates, human feet have evolved into highly articulated and flexible elements. This adaptiveness provides key advantages. It absorbs impacts and secures grip when interacting with the environment. However, the human foot design potentially increases the energetic cost, because it features actuators and provides less power transfer than a rigid plate does. Here...
During walking and running, passive foot prostheses can only do positive work by releasing elastic energy stored in compliant structures. This limited ability to generate positive work can be improved in devices which actively support the push-off. Here, we estimate the peak power and energy requirements of a simulated serial elastic actuator (SEA) for walking and running and compare it with a direct...
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