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    Summary

    Healthy humans can reduce walking energy expenditure with an ankle exoskeleton. A muscle-reflex model simulation closely matched experimental results, showing significant reductions in soleus muscle activation.

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    Area of Science:

    • Biomechanics
    • Robotics
    • Human-Computer Interaction

    Background:

    • Exoskeletons aim to reduce human energy expenditure during locomotion.
    • Current designs often focus on joint-level mechanical efficiency.
    • This overlooks natural human energy-saving mechanisms, such as bi-articular muscles and tendons.

    Purpose of the Study:

    • To simulate and validate the effectiveness of an ankle exoskeleton in reducing human walking energy expenditure.
    • To compare the predictive accuracy of a muscle-reflex model against experimental data.
    • To investigate different exoskeleton control strategies.

    Main Methods:

    • Utilized a muscle-reflex model to simulate walking with a pneumatic ankle exoskeleton.
    • Modeled two control strategies: proportional myoelectric control (EMG-based) and footswitch control.
    • Optimized reflex-control parameters for walking with and without exoskeleton assistance.

    Main Results:

    • The muscle-reflex model accurately predicted experimental reductions in soleus muscle activation.
    • Simulated proportional myoelectric control showed a 42.8% reduction in soleus activation (vs. 41.4% experimental).
    • Simulated footswitch control showed a 25.9% reduction (vs. 13.0% experimental), indicating model's predictive capability.

    Conclusions:

    • Muscle-reflex models can effectively predict the impact of exoskeletons on human muscle activity and energy expenditure.
    • Ankle exoskeletons, particularly with EMG-based control, show potential for significant metabolic energy savings during walking.
    • Exoskeleton design should consider human physiological mechanisms for optimal performance.