Sharbafi, Maziar A. ; Barazesh, Hamid ; Iranikhah, Majid ; Seyfarth, Andre (2018)
Leg Force Control Through Biarticular Muscles for Human Walking Assistance.
In: Frontiers in Neurorobotics, 12
doi: 10.3389/fnbot.2018.00039
Artikel, Bibliographie
Dies ist die neueste Version dieses Eintrags.
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: | 2018 |
| Autor(en): | Sharbafi, Maziar A. ; Barazesh, Hamid ; Iranikhah, Majid ; Seyfarth, Andre |
| Art des Eintrags: | Bibliographie |
| Titel: | Leg Force Control Through Biarticular Muscles for Human Walking Assistance |
| Sprache: | Englisch |
| Publikationsjahr: | 2018 |
| Ort: | Darmstadt |
| Verlag: | Frontiers |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Frontiers in Neurorobotics |
| Jahrgang/Volume einer Zeitschrift: | 12 |
| DOI: | 10.3389/fnbot.2018.00039 |
| Zugehörige Links: | |
| 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. |
| 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: | 02 Jul 2024 23:05 |
| Letzte Änderung: | 02 Jul 2024 23:05 |
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| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
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Leg Force Control Through Biarticular Muscles for Human Walking Assistance. (deposited 24 Feb 2019 20:55)
- Leg Force Control Through Biarticular Muscles for Human Walking Assistance. (deposited 02 Jul 2024 23:05) [Gegenwärtig angezeigt]
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