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

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Predictive Simulation of Human Walking Augmented by a Powered Ankle Exoskeleton.

Vinh Q Nguyen, Brian R Umberger, Frank C Sup

IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]

|August 4, 2019

Summary

Researchers simulated powered ankle exoskeletons to reduce walking energy costs. Augmenting one ankle reduced costs by 45%, and both ankles by 52%, demonstrating potential for assistive devices.

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Area of Science:

Biomechanics
Robotics
Human-computer interaction

Background:

The human ankle generates significant power during walking.
Ankle exoskeletons can reduce metabolic cost by assisting plantar flexor torque.
Current exoskeleton design is time-consuming, hindering parameter exploration.

Purpose of the Study:

To simulate and optimize powered ankle exoskeleton assistance for reducing walking energetic cost.
To investigate simultaneous optimization of gait and assistive torque.
To evaluate assistance with one and both ankles.

Main Methods:

Formulated walking with exoskeleton as a predictive dynamic optimization problem.
Solved for optimal assistive device torque and gait simultaneously.
Simulated cases with single-ankle and dual-ankle assistance.

Main Results:

Simulations predicted a 45% reduction in energetic cost with one augmented ankle.
Simulations predicted a 52% reduction in energetic cost with both augmented ankles.
Identified optimal assistive torque profiles for different assistance scenarios.

Conclusions:

Predictive simulations can accelerate the design and control of assistive ankle exoskeletons.
Significant reductions in walking energetic cost are theoretically achievable with powered ankle assistance.
This study provides a framework for determining optimal assistive torque for exoskeletons.