Mechanics and energetics of level walking with powered ankle exoskeletons

The Journal of Experimental Biology
Gregory S Sawicki, Daniel P Ferris

Abstract

Robotic lower limb exoskeletons that can alter joint mechanical power output are novel tools for studying the relationship between the mechanics and energetics of human locomotion. We built pneumatically powered ankle exoskeletons controlled by the user's own soleus electromyography (i.e. proportional myoelectric control) to determine whether mechanical assistance at the ankle joint could reduce the metabolic cost of level, steady-speed human walking. We hypothesized that subjects would reduce their net metabolic power in proportion to the average positive mechanical power delivered by the bilateral ankle exoskeletons. Nine healthy individuals completed three 30 min sessions walking at 1.25 m s(-1) while wearing the exoskeletons. Over the three sessions, subjects' net metabolic energy expenditure during powered walking progressed from +7% to -10% of that during unpowered walking. With practice, subjects significantly reduced soleus muscle activity (by approximately 28% root mean square EMG, P<0.0001) and negative exoskeleton mechanical power (-0.09 W kg(-1) at the beginning of session 1 and -0.03 W kg(-1) at the end of session 3; P=0.005). Ankle joint kinematics returned to similar patterns to those observed during unpowered wa...Continue Reading

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Jun 25, 2009·Exercise and Sport Sciences Reviews·Gregory S SawickiDaniel P Ferris
Jun 11, 2009·Journal of Neuroengineering and Rehabilitation·Daniel P Ferris
Jun 25, 2009·Journal of Neuroengineering and Rehabilitation·Gregory S Sawicki, Daniel P Ferris
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