Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power

Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethe...
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Autor*in:	Galle, Samuel [verfasserIn] Malcolm, Philippe Collins, Steven Hartley De Clercq, Dirk

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2017

Schlagwörter:	Human locomotion Augmentation Lower-limb exoskeletons Metabolic cost Optimal assistance

Anmerkung:	© The Author(s). 2017

Übergeordnetes Werk:	Enthalten in: Journal of neuroEngineering and rehabilitation - London : BioMed Central, 2004, 14(2017), 1 vom: 27. Apr.
Übergeordnetes Werk:	volume:14 ; year:2017 ; number:1 ; day:27 ; month:04

Links:	Volltext

DOI / URN:	10.1186/s12984-017-0235-0

Katalog-ID:	SPR029226384

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520			\|a Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits.
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allfields	10.1186/s12984-017-0235-0 doi (DE-627)SPR029226384 (SPR)s12984-017-0235-0-e DE-627 ger DE-627 rakwb eng Galle, Samuel verfasserin (orcid)0000-0002-1928-7764 aut Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s). 2017 Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. Human locomotion (dpeaa)DE-He213 Augmentation (dpeaa)DE-He213 Lower-limb exoskeletons (dpeaa)DE-He213 Metabolic cost (dpeaa)DE-He213 Optimal assistance (dpeaa)DE-He213 Malcolm, Philippe aut Collins, Steven Hartley aut De Clercq, Dirk aut Enthalten in Journal of neuroEngineering and rehabilitation London : BioMed Central, 2004 14(2017), 1 vom: 27. Apr. (DE-627)461907933 (DE-600)2164377-5 1743-0003 nnns volume:14 year:2017 number:1 day:27 month:04 https://dx.doi.org/10.1186/s12984-017-0235-0 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2055 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2017 1 27 04
spelling	10.1186/s12984-017-0235-0 doi (DE-627)SPR029226384 (SPR)s12984-017-0235-0-e DE-627 ger DE-627 rakwb eng Galle, Samuel verfasserin (orcid)0000-0002-1928-7764 aut Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s). 2017 Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. Human locomotion (dpeaa)DE-He213 Augmentation (dpeaa)DE-He213 Lower-limb exoskeletons (dpeaa)DE-He213 Metabolic cost (dpeaa)DE-He213 Optimal assistance (dpeaa)DE-He213 Malcolm, Philippe aut Collins, Steven Hartley aut De Clercq, Dirk aut Enthalten in Journal of neuroEngineering and rehabilitation London : BioMed Central, 2004 14(2017), 1 vom: 27. Apr. (DE-627)461907933 (DE-600)2164377-5 1743-0003 nnns volume:14 year:2017 number:1 day:27 month:04 https://dx.doi.org/10.1186/s12984-017-0235-0 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2055 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2017 1 27 04
allfields_unstemmed	10.1186/s12984-017-0235-0 doi (DE-627)SPR029226384 (SPR)s12984-017-0235-0-e DE-627 ger DE-627 rakwb eng Galle, Samuel verfasserin (orcid)0000-0002-1928-7764 aut Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s). 2017 Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. Human locomotion (dpeaa)DE-He213 Augmentation (dpeaa)DE-He213 Lower-limb exoskeletons (dpeaa)DE-He213 Metabolic cost (dpeaa)DE-He213 Optimal assistance (dpeaa)DE-He213 Malcolm, Philippe aut Collins, Steven Hartley aut De Clercq, Dirk aut Enthalten in Journal of neuroEngineering and rehabilitation London : BioMed Central, 2004 14(2017), 1 vom: 27. Apr. (DE-627)461907933 (DE-600)2164377-5 1743-0003 nnns volume:14 year:2017 number:1 day:27 month:04 https://dx.doi.org/10.1186/s12984-017-0235-0 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2055 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2017 1 27 04
allfieldsGer	10.1186/s12984-017-0235-0 doi (DE-627)SPR029226384 (SPR)s12984-017-0235-0-e DE-627 ger DE-627 rakwb eng Galle, Samuel verfasserin (orcid)0000-0002-1928-7764 aut Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s). 2017 Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. Human locomotion (dpeaa)DE-He213 Augmentation (dpeaa)DE-He213 Lower-limb exoskeletons (dpeaa)DE-He213 Metabolic cost (dpeaa)DE-He213 Optimal assistance (dpeaa)DE-He213 Malcolm, Philippe aut Collins, Steven Hartley aut De Clercq, Dirk aut Enthalten in Journal of neuroEngineering and rehabilitation London : BioMed Central, 2004 14(2017), 1 vom: 27. Apr. (DE-627)461907933 (DE-600)2164377-5 1743-0003 nnns volume:14 year:2017 number:1 day:27 month:04 https://dx.doi.org/10.1186/s12984-017-0235-0 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2055 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2017 1 27 04
allfieldsSound	10.1186/s12984-017-0235-0 doi (DE-627)SPR029226384 (SPR)s12984-017-0235-0-e DE-627 ger DE-627 rakwb eng Galle, Samuel verfasserin (orcid)0000-0002-1928-7764 aut Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power 2017 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s). 2017 Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. Human locomotion (dpeaa)DE-He213 Augmentation (dpeaa)DE-He213 Lower-limb exoskeletons (dpeaa)DE-He213 Metabolic cost (dpeaa)DE-He213 Optimal assistance (dpeaa)DE-He213 Malcolm, Philippe aut Collins, Steven Hartley aut De Clercq, Dirk aut Enthalten in Journal of neuroEngineering and rehabilitation London : BioMed Central, 2004 14(2017), 1 vom: 27. Apr. (DE-627)461907933 (DE-600)2164377-5 1743-0003 nnns volume:14 year:2017 number:1 day:27 month:04 https://dx.doi.org/10.1186/s12984-017-0235-0 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_2055 GBV_ILN_2108 GBV_ILN_2111 GBV_ILN_2119 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 14 2017 1 27 04
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The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. 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author	Galle, Samuel
spellingShingle	Galle, Samuel misc Human locomotion misc Augmentation misc Lower-limb exoskeletons misc Metabolic cost misc Optimal assistance Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
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topic_title	Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power Human locomotion (dpeaa)DE-He213 Augmentation (dpeaa)DE-He213 Lower-limb exoskeletons (dpeaa)DE-He213 Metabolic cost (dpeaa)DE-He213 Optimal assistance (dpeaa)DE-He213
topic	misc Human locomotion misc Augmentation misc Lower-limb exoskeletons misc Metabolic cost misc Optimal assistance
topic_unstemmed	misc Human locomotion misc Augmentation misc Lower-limb exoskeletons misc Metabolic cost misc Optimal assistance
topic_browse	misc Human locomotion misc Augmentation misc Lower-limb exoskeletons misc Metabolic cost misc Optimal assistance
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title	Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
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title_full	Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
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title_sort	reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
title_auth	Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
abstract	Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. © The Author(s). 2017
abstractGer	Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. © The Author(s). 2017
abstract_unstemmed	Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits. © The Author(s). 2017
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title_short	Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
url	https://dx.doi.org/10.1186/s12984-017-0235-0
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The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Methods Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙$ kg^{−1} $). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Results Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙$ kg^{−1} $, leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. Conclusions These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. 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Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power

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