Exoskeletons; Biomechanics; Gait; Human-Robot Interaction
We developed, implemented, and assessed the performance of two forms of plug-in type repetitive controllers (RC) for enhancing the transparency of a lower extremity exoskeleton that operates to support walking function. One controller is a first order RC (SING) consisting of a single period matched to the self-selected cadence of the participant. The second is a novel 'parallel' RC (PARA) which consists of a library of integrated RCs with varying periods, intended to accommodate a wider range of gait cycle times.
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We sought to establish whether torque pulses applied by an exoskeleton to the hip and knee joint modulate propulsion mechanics and whether changes in propulsion mechanics would be sustained after exposure to torque pulses under user-driven treadmill control. We applied twelve different formulations of torque pulses consecutively over 300 strides to 24 healthy participants, and quantified the evolution of four outcome measures -- gait speed (GS), hip extension (HE), trailing limb angle (TLA), normalized propulsive impulse (NPI) -- before, during, and immediately after training.
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