Assisting gait with free moments or joint moments on the swing leg

Conference paper (2019)

Authors

S. Jabeen Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Andrew Berry Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
T. Geijtenbeek Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Jaap Harlaar Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
H. Vallery Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 S. Jabeen, Andrew Berry, T. Geijtenbeek, J. Harlaar, H. Vallery
DOI: https://doi.org/10.1109/ICORR.2019.8779389
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Published Date

2019

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

Wearable actuators in lower-extremity active orthoses or prostheses have the potential to address a variety of gait disorders. However, whenever conventional joint actuators exert moments on specific limbs, they must simultaneously impose opposing reaction moments on other limbs, which may reduce the desired effects and perturb posture. Momentum exchange actuators exert free moments on individual limbs, potentially overcoming or mitigating these issues. We simulate unperturbed gait to compare conventional joint actuators placed on the knee or hip of the swing leg, and equivalent angular momentum exchange actuators placed on the shank or thigh. Our results indicate that, while conventional joint actuators excel at increasing toe clearance when assisting knee flexion, free moments can yield greater increases in stride length when assisting knee extension or hip flexion.

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