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Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

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Published on: June 16, 2016

Running With an Elastic Lower Limb Exoskeleton.

Michael S Cherry¹, Sridhar Kota, Aaron Young

¹Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI.

Journal of Applied Biomechanics

|December 24, 2015

Summary

This summary is machine-generated.

This study found that an elastic lower limb exoskeleton did not assist running and increased metabolic cost. Key challenges for running exoskeletons include compliant human-machine interfaces and added limb inertia.

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Published on: September 14, 2017

Area of Science:

Biomechanics
Robotics
Human-Machine Systems

Background:

Lower limb robotic exoskeletons are common for walking assistance.
Few devices have been tested for assisting human running.
Elastic exoskeletons offer a potential motorless approach due to human leg's elastic properties.

Purpose of the Study:

To investigate the efficacy of a pseudo-passive elastic lower limb exoskeleton in assisting human running.
To evaluate the impact of the exoskeleton on leg stiffness and metabolic cost during running.

Main Methods:

Developed an elastic lower limb exoskeleton to add stiffness in parallel with the human leg.
Six healthy subjects ran on a treadmill at 2.3 m/s with and without the exoskeleton.
Measured leg stiffness, exoskeleton contribution, and metabolic cost.

Main Results:

The exoskeleton provided only 24% of the intended leg stiffness due to soft tissue compression and harness compliance.
The exoskeleton supported only 7% of the peak vertical ground reaction force.
Running with the exoskeleton significantly increased metabolic cost (P < .01).

Conclusions:

Elastic lower limb exoskeletons face challenges in effectively assisting human running.
Human-machine interface compliance and added exoskeleton inertia are major obstacles for successful running exoskeleton design.