Sharbafi, Maziar A. ; Barazesh, Hamid ; Iranikhah, Majid ; Seyfarth, Andre (2020)
Leg Force Control Through Biarticular Muscles for Human Walking Assistance.
In: Frontiers in Neurorobotics, 2018, 12
Artikel, Zweitveröffentlichung
Kurzbeschreibung (Abstract)
Assistive devices can be considered as one of the main applications of legged locomotion research in daily life. In order to develop an efficient and comfortable prosthesis or exoskeleton, biomechanical studies on human locomotion are very useful. In this paper, the applicability of the FMCH (force modulated compliant hip) model is investigated for control of lower limb wearable exoskeletons. This is a bioinspired method for posture control, which is based on the virtual pivot point (VPP) concept, found in human walking. By implementing the proposed method on a detailed neuromuscular model of human walking, we showed that using a biarticular actuator parallel to the hamstring muscle, activation in most of the leg muscles can be reduced. In addition, the total metabolic cost of motion is decreased up to 12%. The simple control rule of assistance is based on leg force feedback which is the only required sensory information.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2020 |
| Autor(en): | Sharbafi, Maziar A. ; Barazesh, Hamid ; Iranikhah, Majid ; Seyfarth, Andre |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Leg Force Control Through Biarticular Muscles for Human Walking Assistance |
| Sprache: | Englisch |
| Publikationsjahr: | 2020 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2018 |
| Verlag: | Frontiers |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Frontiers in Neurorobotics |
| Jahrgang/Volume einer Zeitschrift: | 12 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung aus gefördertem Golden Open Access |
| Kurzbeschreibung (Abstract): | Assistive devices can be considered as one of the main applications of legged locomotion research in daily life. In order to develop an efficient and comfortable prosthesis or exoskeleton, biomechanical studies on human locomotion are very useful. In this paper, the applicability of the FMCH (force modulated compliant hip) model is investigated for control of lower limb wearable exoskeletons. This is a bioinspired method for posture control, which is based on the virtual pivot point (VPP) concept, found in human walking. By implementing the proposed method on a detailed neuromuscular model of human walking, we showed that using a biarticular actuator parallel to the hamstring muscle, activation in most of the leg muscles can be reduced. In addition, the total metabolic cost of motion is decreased up to 12%. The simple control rule of assistance is based on leg force feedback which is the only required sensory information. |
| URN: | urn:nbn:de:tuda-tuprints-85048 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 700 Künste und Unterhaltung > 796 Sport |
| Fachbereich(e)/-gebiet(e): | 03 Fachbereich Humanwissenschaften 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft |
| Hinterlegungsdatum: | 24 Feb 2019 20:55 |
| Letzte Änderung: | 20 Okt 2023 09:32 |
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| Suche nach Titel in: | TUfind oder in Google |
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