What question did this study set out to answer?

Develop and validate a particularly-shaped adaptive oscillator to estimate gait cycle phases from joint angles alone for synchronous exoskeleton assistance.

May 1, 2015

A new adaptive frequency oscillator for gait assistance

View Full Paper

Ask AI

Bookmark

Develop and validate a particularly-shaped adaptive oscillator to estimate gait cycle phases from joint angles alone for synchronous exoskeleton assistance.
Designed a particularly-shaped adaptive oscillator (PSAO) to extract the gait cycle and stride phase directly from joint angles without foot contact sensors.
Simulated assistance patterns using a neuromuscular walking model to assess changes in metabolic energy expenditure and walk ratio (step length per step rate).
Tested a prototype exoskeleton on a human subject during level-ground and incline walking to evaluate real-world physiological cost index and walk ratio control.
Neuromuscular simulations revealed that specific phase-shifted assistance patterns reduced the metabolic cost of walking and modified the walk ratio.
Human experimental trials confirmed a significant decrease in physiological cost index calculated from heart rate, confirming reduced metabolic expenditure.
The walking assistance framework demonstrated that user walk ratio is controllable across both flat and inclined walking surfaces.

Discussion

No takes yet. Share an insight, caveat, or question.

Implication

Experimental evaluation demonstrates reduced metabolic cost and phase synchronization in human walking, suggesting sensor-free gait cycle estimation can enhance exoskeleton assistance.

Cite This Study

Seo et al. (2015) studied this question.

synapsesocial.com/papers/6a1f12566880c834f2e6c803 https://doi.org/10.1109/icra.2015.7139977

View Full Paper

Ask AI

Bookmark

Implication

Experimental evaluation demonstrates reduced metabolic cost and phase synchronization in human walking, suggesting sensor-free gait cycle estimation can enhance exoskeleton assistance.

A new adaptive frequency oscillator for gait assistance

Key Points

Discussion

Implication

Cite This Study

A new adaptive frequency oscillator for gait assistance

Key Points

Discussion

Implication

Cite This Study

Also Consider

Also Consider