Modulating Multiarticular Energy during Human Walking and Running with an Unpowered Exoskeleton.

Area of Science:

• Biomechanics
• Robotics
• Human-computer interaction

Background:

• Exoskeletons can reduce metabolic cost during locomotion.
• Modulating multi-joint energy for gait assistance remains a challenge.
• Understanding human lower-limb joint energy transfer is crucial.

Purpose of the Study:

• To develop a hip-knee exoskeleton for multiarticular energy modulation.
• To emulate and reinforce the function of biarticular muscles (hamstrings and rectus femoris).
• To improve the energy economy of walking and running.

Main Methods:

• Designed a hip-knee unpowered exoskeleton with a biarticular exo-tendon.
• The exoskeleton assists hamstrings in energy recycling during leg swing.
• It supports hip extension and knee extension during the stance phase.

Main Results:

• Reduced walking metabolic rate by 6.2% at 1.5 m/s.
• Reduced running metabolic rate by 4.0% at 2.5 m/s.
• Achieved phased modulation of hip and knee joint energy.

Conclusions:

• The bio-inspired exoskeleton effectively modulates multiarticular energy.
• This approach enhances energy economy during both walking and running.
• The design method offers potential for future multi-gait assistive devices.