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Leg Force Control Through Biarticular Muscles for Human Walking Assistance

Sharbafi, Maziar A. and Barazesh, Hamid and Iranikhah, Majid and Seyfarth, Andre (2018):
Leg Force Control Through Biarticular Muscles for Human Walking Assistance.
In: Frontiers in Neurorobotics, Frontiers, 12, ISSN 1662-5218, DOI: 10.3389/fnbot.2018.00039, [Online-Edition: https://doi.org/10.3389/fnbot.2018.00039],
[Article]

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.

Item Type: Article
Erschienen: 2018
Creators: Sharbafi, Maziar A. and Barazesh, Hamid and Iranikhah, Majid and Seyfarth, Andre
Title: Leg Force Control Through Biarticular Muscles for Human Walking Assistance
Language: English
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.

Journal or Publication Title: Frontiers in Neurorobotics
Volume: 12
Publisher: Frontiers
Divisions: 03 Department of Human Sciences
03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 24 Feb 2019 20:55
DOI: 10.3389/fnbot.2018.00039
Official URL: https://doi.org/10.3389/fnbot.2018.00039
URN: urn:nbn:de:tuda-tuprints-85048
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