Simulating gait assistance of a hip exoskeleton: Case studies for ankle pathologies
Bokman Lim, Seungyong Hyoung, Jusuk Lee, Keehong Seo, Junwon Jang, Youngbo Shim
Abstract
We propose a simulation framework for gait assistance with ankle pathologies. We first construct the neu-romuscular walking model, then design the parameters for assistance torques for stance and swing legs. The parameter values are determined by performing dynamic optimizations which takes into account the human-exoskeleton interactive dynamics. The simulated energy expenditure and kinematic data are compared with the real data. Case studies involve abnormal gaits with 1) foot drop, 2) foot drop and plantarflexion failure. We evaluate the gait efficiency and walking speed for the different gait types. Our result shows that each gait type should have a different assistance strategy (timing and magnitude) compared to the assistance strategy of a normal gait.
BibTeX
@inproceedings{icra2017_simulatinggaitas,
title = {Simulating gait assistance of a hip exoskeleton: Case studies for ankle pathologies},
author = {Bokman Lim and Seungyong Hyoung and Jusuk Lee and Keehong Seo and Junwon Jang and Youngbo Shim},
booktitle = {ICRA 2017},
year = {2017}
}