TY - JOUR
T1 - Assisting gait with free moments or joint moments on the swing leg
AU - Jabeen, Saher
AU - Berry, Andrew
AU - Geijtenbeek, Thomas
AU - Harlaar, Jaap
AU - Vallery, Heike
PY - 2019/6/1
Y1 - 2019/6/1
N2 - Wearable actuators in lower-extremity active orthoses or prostheses have the potential to address a variety of gait disorders. However, whenever conventional joint actuators exert moments on specific limbs, they must simultaneously impose opposing reaction moments on other limbs, which may reduce the desired effects and perturb posture. Momentum exchange actuators exert free moments on individual limbs, potentially overcoming or mitigating these issues.We simulate unperturbed gait to compare conventional joint actuators placed on the knee or hip of the swing leg, and equivalent angular momentum exchange actuators placed on the shank or thigh. Our results indicate that, while conventional joint actuators excel at increasing toe clearance when assisting knee flexion, free moments can yield greater increases in stride length when assisting knee extension or hip flexion.
AB - Wearable actuators in lower-extremity active orthoses or prostheses have the potential to address a variety of gait disorders. However, whenever conventional joint actuators exert moments on specific limbs, they must simultaneously impose opposing reaction moments on other limbs, which may reduce the desired effects and perturb posture. Momentum exchange actuators exert free moments on individual limbs, potentially overcoming or mitigating these issues.We simulate unperturbed gait to compare conventional joint actuators placed on the knee or hip of the swing leg, and equivalent angular momentum exchange actuators placed on the shank or thigh. Our results indicate that, while conventional joint actuators excel at increasing toe clearance when assisting knee flexion, free moments can yield greater increases in stride length when assisting knee extension or hip flexion.
UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85071149419&origin=inward
UR - https://www.ncbi.nlm.nih.gov/pubmed/31374773
U2 - https://doi.org/10.1109/ICORR.2019.8779389
DO - https://doi.org/10.1109/ICORR.2019.8779389
M3 - Article
C2 - 31374773
SN - 1945-7901
VL - 2019
SP - 1079
EP - 1084
JO - IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
JF - IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
ER -