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 language | English |
|---|---|
| Title of host publication | 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019 |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE Computer Society |
| Pages | 1079-1084 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-7281-2755-2 |
| ISBN (Print) | 978-1-7281-2756-9 |
| DOIs | |
| Publication status | Published - Jun 2019 |
| Event | 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada Duration: 24 Jun 2019 → 28 Jun 2019 Conference number: 16 |
Publication series
| Name | IEEE International Conference on Rehabilitation Robotics |
|---|---|
| Publisher | IEEE |
| Volume | 2019 |
| ISSN (Print) | 1945-7898 |
| ISSN (Electronic) | 1945-7901 |
Conference
| Conference | 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 |
|---|---|
| Abbreviated title | ICORR |
| Country | Canada |
| City | Toronto |
| Period | 24/06/19 → 28/06/19 |
Keywords
- Fall prevention
- Free moments
- Joint moments
- Leg orthoses and prostheses
- Rehabilitation robotics