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How to Carry Loads Economically: Analysis Based on a Predictive Biped Model.

Tong Li1, Qingguo Li2, Tao Liu1

  • 1State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang 310027, China.

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Summary

Allowing relative motion between a heavy load and the body can reduce walking energy costs. Vertical motion offers greater energy savings than fore-aft motion, with powered systems showing only marginal benefits over passive ones.

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Area of Science:

  • Biomechanics
  • Robotics
  • Human-Computer Interaction

Background:

  • Carrying heavy loads increases energy expenditure and user fatigue.
  • Conventional load attachment restricts load movement relative to the body.
  • Previous research suggests energy cost reduction with allowed load relative motion, but user effects are not fully understood.

Purpose of the Study:

  • To investigate the influence of load-carrier interaction on energy cost during walking.
  • To explore the effects of passive and powered relative load motion in vertical and fore-aft directions.
  • To provide insights for designing more economical load-carrying systems and wearable devices.

Main Methods:

  • Utilized an optimization-based bipedal model capable of generating human-like walking gaits.
  • Simulated four scenarios of load-body connection: passive/powered mechanisms in vertical/fore-aft directions.
  • Analyzed the impact of varying stiffness values on energy cost and interaction forces.

Main Results:

  • Stiffness values significantly influence energy cost, with directional effects varying.
  • Powered relative motion, particularly vertical, demonstrated potential for energy cost reduction.
  • Powered systems offered only marginal improvements over passive systems at comparable peak interaction forces.

Conclusions:

  • Relative motion, especially vertical, can enhance load-carrying economy.
  • Powered mechanisms provide limited additional benefits over passive systems for energy saving.
  • The developed model can inform the design and control of advanced wearable load-carrying devices.