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

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)

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
Title of host publication2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
Place of PublicationPiscataway, NJ
PublisherIEEE Computer Society
Pages1079-1084
Number of pages6
ISBN (Electronic)978-1-7281-2755-2
ISBN (Print)978-1-7281-2756-9
DOIs
Publication statusPublished - Jun 2019
Event16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada
Duration: 24 Jun 201928 Jun 2019
Conference number: 16

Publication series

NameIEEE International Conference on Rehabilitation Robotics
PublisherIEEE
Volume2019
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
Abbreviated titleICORR
CountryCanada
CityToronto
Period24/06/1928/06/19

Keywords

  • Fall prevention
  • Free moments
  • Joint moments
  • Leg orthoses and prostheses
  • Rehabilitation robotics

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