Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance
Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both ass...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Grimmer, Martin [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2019transfer abstract |
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| Schlagwörter: |
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| Umfang: |
9 |
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| Übergeordnetes Werk: |
Enthalten in: Measuring students' school context exposures: A trajectory-based approach - Halpern-Manners, Andrew ELSEVIER, 2016, affiliated with the American Society of Biomechanics, the European Society of Biomechanics, the International Society of Biomechanics, the Japanese Society for Clinical Biomechanics and Related Research and the Australian and New Zealand Society of Biomechanics, Amsterdam [u.a.] |
|---|---|
| Übergeordnetes Werk: |
volume:83 ; year:2019 ; day:23 ; month:01 ; pages:76-84 ; extent:9 |
| Links: |
|---|
| DOI / URN: |
10.1016/j.jbiomech.2018.11.023 |
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ELV04538441X |
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| 520 | |a Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. | ||
| 520 | |a Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. | ||
| 650 | 7 | |a Control |2 Elsevier | |
| 650 | 7 | |a Moment |2 Elsevier | |
| 650 | 7 | |a Exosuit |2 Elsevier | |
| 650 | 7 | |a Power |2 Elsevier | |
| 650 | 7 | |a Assistance |2 Elsevier | |
| 700 | 1 | |a Quinlivan, Brendan T. |4 oth | |
| 700 | 1 | |a Lee, Sangjun |4 oth | |
| 700 | 1 | |a Malcolm, Philippe |4 oth | |
| 700 | 1 | |a Rossi, Denise Martineli |4 oth | |
| 700 | 1 | |a Siviy, Christopher |4 oth | |
| 700 | 1 | |a Walsh, Conor J. |4 oth | |
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10.1016/j.jbiomech.2018.11.023 doi GBV00000000000483.pica (DE-627)ELV04538441X (ELSEVIER)S0021-9290(18)30858-3 DE-627 ger DE-627 rakwb eng 300 VZ 70.00 bkl 71.00 bkl Grimmer, Martin verfasserin aut Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance 2019transfer abstract 9 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Control Elsevier Moment Elsevier Exosuit Elsevier Power Elsevier Assistance Elsevier Quinlivan, Brendan T. oth Lee, Sangjun oth Malcolm, Philippe oth Rossi, Denise Martineli oth Siviy, Christopher oth Walsh, Conor J. oth Enthalten in Elsevier Science Halpern-Manners, Andrew ELSEVIER Measuring students' school context exposures: A trajectory-based approach 2016 affiliated with the American Society of Biomechanics, the European Society of Biomechanics, the International Society of Biomechanics, the Japanese Society for Clinical Biomechanics and Related Research and the Australian and New Zealand Society of Biomechanics Amsterdam [u.a.] (DE-627)ELV00201923X volume:83 year:2019 day:23 month:01 pages:76-84 extent:9 https://doi.org/10.1016/j.jbiomech.2018.11.023 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U 70.00 Sozialwissenschaften allgemein: Allgemeines VZ 71.00 Soziologie: Allgemeines VZ AR 83 2019 23 0123 76-84 9 |
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10.1016/j.jbiomech.2018.11.023 doi GBV00000000000483.pica (DE-627)ELV04538441X (ELSEVIER)S0021-9290(18)30858-3 DE-627 ger DE-627 rakwb eng 300 VZ 70.00 bkl 71.00 bkl Grimmer, Martin verfasserin aut Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance 2019transfer abstract 9 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Control Elsevier Moment Elsevier Exosuit Elsevier Power Elsevier Assistance Elsevier Quinlivan, Brendan T. oth Lee, Sangjun oth Malcolm, Philippe oth Rossi, Denise Martineli oth Siviy, Christopher oth Walsh, Conor J. oth Enthalten in Elsevier Science Halpern-Manners, Andrew ELSEVIER Measuring students' school context exposures: A trajectory-based approach 2016 affiliated with the American Society of Biomechanics, the European Society of Biomechanics, the International Society of Biomechanics, the Japanese Society for Clinical Biomechanics and Related Research and the Australian and New Zealand Society of Biomechanics Amsterdam [u.a.] (DE-627)ELV00201923X volume:83 year:2019 day:23 month:01 pages:76-84 extent:9 https://doi.org/10.1016/j.jbiomech.2018.11.023 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U 70.00 Sozialwissenschaften allgemein: Allgemeines VZ 71.00 Soziologie: Allgemeines VZ AR 83 2019 23 0123 76-84 9 |
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10.1016/j.jbiomech.2018.11.023 doi GBV00000000000483.pica (DE-627)ELV04538441X (ELSEVIER)S0021-9290(18)30858-3 DE-627 ger DE-627 rakwb eng 300 VZ 70.00 bkl 71.00 bkl Grimmer, Martin verfasserin aut Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance 2019transfer abstract 9 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Control Elsevier Moment Elsevier Exosuit Elsevier Power Elsevier Assistance Elsevier Quinlivan, Brendan T. oth Lee, Sangjun oth Malcolm, Philippe oth Rossi, Denise Martineli oth Siviy, Christopher oth Walsh, Conor J. oth Enthalten in Elsevier Science Halpern-Manners, Andrew ELSEVIER Measuring students' school context exposures: A trajectory-based approach 2016 affiliated with the American Society of Biomechanics, the European Society of Biomechanics, the International Society of Biomechanics, the Japanese Society for Clinical Biomechanics and Related Research and the Australian and New Zealand Society of Biomechanics Amsterdam [u.a.] (DE-627)ELV00201923X volume:83 year:2019 day:23 month:01 pages:76-84 extent:9 https://doi.org/10.1016/j.jbiomech.2018.11.023 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U 70.00 Sozialwissenschaften allgemein: Allgemeines VZ 71.00 Soziologie: Allgemeines VZ AR 83 2019 23 0123 76-84 9 |
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10.1016/j.jbiomech.2018.11.023 doi GBV00000000000483.pica (DE-627)ELV04538441X (ELSEVIER)S0021-9290(18)30858-3 DE-627 ger DE-627 rakwb eng 300 VZ 70.00 bkl 71.00 bkl Grimmer, Martin verfasserin aut Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance 2019transfer abstract 9 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Control Elsevier Moment Elsevier Exosuit Elsevier Power Elsevier Assistance Elsevier Quinlivan, Brendan T. oth Lee, Sangjun oth Malcolm, Philippe oth Rossi, Denise Martineli oth Siviy, Christopher oth Walsh, Conor J. oth Enthalten in Elsevier Science Halpern-Manners, Andrew ELSEVIER Measuring students' school context exposures: A trajectory-based approach 2016 affiliated with the American Society of Biomechanics, the European Society of Biomechanics, the International Society of Biomechanics, the Japanese Society for Clinical Biomechanics and Related Research and the Australian and New Zealand Society of Biomechanics Amsterdam [u.a.] (DE-627)ELV00201923X volume:83 year:2019 day:23 month:01 pages:76-84 extent:9 https://doi.org/10.1016/j.jbiomech.2018.11.023 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U 70.00 Sozialwissenschaften allgemein: Allgemeines VZ 71.00 Soziologie: Allgemeines VZ AR 83 2019 23 0123 76-84 9 |
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10.1016/j.jbiomech.2018.11.023 doi GBV00000000000483.pica (DE-627)ELV04538441X (ELSEVIER)S0021-9290(18)30858-3 DE-627 ger DE-627 rakwb eng 300 VZ 70.00 bkl 71.00 bkl Grimmer, Martin verfasserin aut Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance 2019transfer abstract 9 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. Control Elsevier Moment Elsevier Exosuit Elsevier Power Elsevier Assistance Elsevier Quinlivan, Brendan T. oth Lee, Sangjun oth Malcolm, Philippe oth Rossi, Denise Martineli oth Siviy, Christopher oth Walsh, Conor J. oth Enthalten in Elsevier Science Halpern-Manners, Andrew ELSEVIER Measuring students' school context exposures: A trajectory-based approach 2016 affiliated with the American Society of Biomechanics, the European Society of Biomechanics, the International Society of Biomechanics, the Japanese Society for Clinical Biomechanics and Related Research and the Australian and New Zealand Society of Biomechanics Amsterdam [u.a.] (DE-627)ELV00201923X volume:83 year:2019 day:23 month:01 pages:76-84 extent:9 https://doi.org/10.1016/j.jbiomech.2018.11.023 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U 70.00 Sozialwissenschaften allgemein: Allgemeines VZ 71.00 Soziologie: Allgemeines VZ AR 83 2019 23 0123 76-84 9 |
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comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance |
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Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance |
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Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. |
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Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. |
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Previous ankle exoskeleton assistance techniques that were able to demonstrate metabolic reductions can be categorized into those that delivered moment profiles similar to the biological ankle moment throughout the stance phase, and others that delivered positive power only during push off. Both assistance techniques and a powered-off condition were compared in treadmill walking (1.5 m s−1) with a soft exosuit. We hypothesized that both techniques can result in a similar metabolic reduction when providing a similar level of average positive exosuit power at each ankle (0.12 W kg−1) and hip (0.02 W kg−1) while the underlying global center-of-mass and local joint biomechanics would be different. We found a similar net metabolic rate reduction of 15% relative to walking with the suit powered-off for both techniques. The ankle moment inspired technique showed larger magnitudes of reductions for biological moment and power at the hip and the ankle. The ankle power inspired technique might benefit from higher biological efficiency, when reducing positive instead of negative power at the knee and when almost keeping the isometric function of the plantarflexors before push-off. Changes at the ankle caused energetic reductions at the knee, hip and the center-of-mass. A major contribution to metabolic reduction might be based on them. As the lower limb biomechanics that led to these reductions were different, we believe that humans alter their gait to maximize their energetic benefit based on the exosuit assistance. For further insights on mechanisms that lead to metabolic reduction, joint mechanics and muscle-tendon dynamics must be analyzed in combination. |
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