Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton

Journal of Neuroengineering and Rehabilitation
Luke M Mooney, Hugh M Herr

Abstract

Ankle exoskeletons can now reduce the metabolic cost of walking in humans without leg disability, but the biomechanical mechanisms that underlie this augmentation are not fully understood. In this study, we analyze the energetics and lower limb mechanics of human study participants walking with and without an active autonomous ankle exoskeleton previously shown to reduce the metabolic cost of walking. We measured the metabolic, kinetic and kinematic effects of wearing a battery powered bilateral ankle exoskeleton. Six participants walked on a level treadmill at 1.4 m/s under three conditions: exoskeleton not worn, exoskeleton worn in a powered-on state, and exoskeleton worn in a powered-off state. Metabolic rates were measured with a portable pulmonary gas exchange unit, body marker positions with a motion capture system, and ground reaction forces with a force-plate instrumented treadmill. Inverse dynamics were then used to estimate ankle, knee and hip torques and mechanical powers. The active ankle exoskeleton provided a mean positive power of 0.105 ± 0.008 W/kg per leg during the push-off region of stance phase. The net metabolic cost of walking with the active exoskeleton (3.28 ± 0.10 W/kg) was an 11 ± 4 % (p = 0.019) reduc...Continue Reading

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Citations

Oct 30, 2016·Frontiers in Bioengineering and Biotechnology·Andrew J MeyerBenjamin J Fregly
Jan 11, 2019·Journal of Applied Physiology·Kimberly A IngrahamC David Remy
Mar 7, 2018·Journal of Neuroengineering and Rehabilitation·Cheng-Hua WuWei-Li Hsu
Aug 9, 2018·Bioinspiration & Biomimetics·Ning LiLianqing Liu
May 14, 2016·Journal of Neuroengineering and Rehabilitation·Fausto A PanizzoloConor J Walsh
Nov 23, 2018·Journal of Neuroengineering and Rehabilitation·Elizabeth Russell EspositoJason M Wilken
Feb 1, 2020·Human Factors·Leia StirlingHyeg Joo Choi
Jan 30, 2020·Bioinspiration & Biomimetics·Hamid Barazesh, Maziar Ahmad Sharbafi
Sep 20, 2017·PloS One·Myunghee KimScott Kuindersma
Oct 26, 2018·PloS One·Prokopios AntonellisPhilippe Malcolm
Nov 21, 2019·Journal of Neuroengineering and Rehabilitation·David J Reinkensmeyer
Aug 11, 2018·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmDirk De Clercq
Feb 23, 2020·Journal of Neuroengineering and Rehabilitation·Gregory S SawickiAaron J Young
Jan 5, 2019·Journal of Neuroengineering and Rehabilitation·Martin GrimmerAndré Seyfarth
Jun 17, 2020·Journal of Neuroengineering and Rehabilitation·Richard W Nuckols, Gregory S Sawicki
Oct 8, 2016·Journal of Neuroengineering and Rehabilitation·Ye DingConor J Walsh
Apr 14, 2017·Royal Society Open Science·Dominic James Farris, Brent J Raiteri
Oct 5, 2018·Journal of Neuroengineering and Rehabilitation·Marta MoltedoDirk Lefeber
May 11, 2019·Journal of Neuroengineering and Rehabilitation·Maria Del Carmen Sanchez-VillamañanJose L Pons
May 29, 2018·Journal of Neuroengineering and Rehabilitation·Jeffrey R KollerDaniel P Ferris
Jul 14, 2018·Journal of Neuroengineering and Rehabilitation·Sangjun LeeConor J Walsh
Apr 30, 2017·Journal of Neuroengineering and Rehabilitation·Samuel GalleDirk De Clercq
Jul 18, 2017·Frontiers in Bioengineering and Biotechnology·Aaron J YoungDaniel P Ferris
Jan 23, 2021·Soft Robotics·Ciarán T O'NeillConor J Walsh
Oct 15, 2020·Journal of the Royal Society, Interface·Michael C RosenbergKatherine M Steele
May 7, 2021·Frontiers in Bioengineering and Biotechnology·Benjamin A ShaferGregory S Sawicki
May 29, 2021·Science·Michael ShepertyckyQingguo Li
Jul 29, 2021·Journal of Neuroengineering and Rehabilitation·Romain BaudMohamed Bouri
Aug 27, 2021·Journal of Neuroengineering and Rehabilitation·Tyler R ClitesElliott J Rouse
Sep 30, 2021·Science Robotics·Katherine L Poggensee, Steven H Collins

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Software Mentioned

SIMM Dynamics Pipeline
SIMM for Musculoskeletal Modeling
SIMM

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