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Metabolically efficient walking assistance using optimized timed forces at the waist.

Prokopios Antonellis1,2, Arash Mohammadzadeh Gonabadi1,3, Sara A Myers1,4

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Researchers reduced walking metabolic rate by 48% using a robotic waist tether. Optimal assistance timing, not mimicking biological propulsion, significantly improved metabolic efficiency during walking.

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Area of Science:

  • Biomechanics
  • Robotics
  • Human metabolic studies

Background:

  • Metabolic rate of walking can be reduced by applying forward force.
  • Previous research suggested optimal force minimizes propulsion, increasing braking.
  • Selective assistance of propulsion was hypothesized to yield greater benefits.

Purpose of the Study:

  • To evaluate the effects of forward forces with different timings and magnitudes on walking metabolic rate.
  • To determine if selective propulsion assistance is more effective than constant force assistance.
  • To investigate the optimal timing and profile of assistive forces for metabolic reduction.

Main Methods:

  • Utilized a robotic waist tether to apply controlled forward forces.
  • Tested sinusoidal force profiles with varying timings and magnitudes on healthy participants.
  • Collected metabolic data and analyzed efficiency ratios.
  • Developed a model to explain the optimal force profile's mechanism.

Main Results:

  • Achieved a 48% reduction in metabolic rate in healthy participants.
  • Demonstrated a greater efficiency ratio of metabolic cost reduction per unit of net aiding work compared to other assistive robots.
  • Identified an optimal sinusoidal force profile peaking during the middle of double support.
  • Showed that optimal force timing did not entirely coincide with biological propulsion.
  • Confirmed potential benefits for patients with peripheral artery disease.

Conclusions:

  • Selective assistance with a specifically timed sinusoidal force profile significantly reduces walking metabolic cost.
  • The optimal assistive strategy enhances the inverted pendulum mechanism during walking.
  • Bioinspired actuation mimicking biological profiles is not necessarily optimal for metabolic reduction in wearable robotics.
  • This approach offers a highly efficient method for metabolic cost reduction during locomotion.