Enhanced gastrocnemius-mimicking lower limb powered exoskeleton robot

Area of Science:

• Robotics
• Biomechanics
• Rehabilitation Engineering

Background:

• Lower limb bionic devices are crucial for rehabilitation and assistive sports.
• Current devices often neglect biarticular muscles, limiting performance enhancement.
• Synergistic effects and energy transfer in biarticular muscles are key for improved movement.

Purpose of the Study:

• To develop and evaluate an enhanced gastrocnemius-mimicking exoskeleton robot (EGME).
• To leverage biarticular muscle characteristics for improved locomotion support.
• To assess the EGME's impact on muscle activation, endurance, and stability.

Main Methods:

• Designed an underactuated exoskeleton robot (EGME) mimicking biarticular gastrocnemius muscle function.
• The EGME provides force across knee and ankle joints for vertical support and propulsion.
• Evaluated EGME performance through trials with five volunteers during level walking and squat holding.

Main Results:

• EGME significantly reduced gastrocnemius muscle activation (up to 46.4% in walking, 59.8% in squat holding).
• Exercise endurance increased substantially (7.79-fold in long-duration squat holding).
• Enhanced ankle stability was observed during locomotion tasks.

Conclusions:

• Biarticular exoskeletons show significant potential for enhancing muscle function and movement performance.
• Findings suggest broad applicability in performance enhancement and rehabilitation.
• Future research should focus on inter-joint coordination and kinematic coupling for refined designs.