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

Saher Jabeen, Andrew Berry, Thomas Geijtenbeek, Jaap Harlaar, Heike Vallery

Research output: Contribution to journalArticleAcademicpeer-review

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.
Original languageEnglish
Pages (from-to)1079-1084
JournalIEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Volume2019
DOIs
Publication statusPublished - 1 Jun 2019

Cite this

Jabeen, Saher ; Berry, Andrew ; Geijtenbeek, Thomas ; Harlaar, Jaap ; Vallery, Heike. / Assisting gait with free moments or joint moments on the swing leg. In: IEEE ... International Conference on Rehabilitation Robotics : [proceedings]. 2019 ; Vol. 2019. pp. 1079-1084.
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Assisting gait with free moments or joint moments on the swing leg. / Jabeen, Saher; Berry, Andrew; Geijtenbeek, Thomas; Harlaar, Jaap; Vallery, Heike.

In: IEEE ... International Conference on Rehabilitation Robotics : [proceedings], Vol. 2019, 01.06.2019, p. 1079-1084.

Research output: Contribution to journalArticleAcademicpeer-review

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AB - 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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