Impact of ankle locking on gait implications for the design of hip and knee exoskeletons

Olivier, Jeremy; Ortlieb, A.; Bertusi, P.; Vouga, Tristan; Bouri, Mohamed; Bleuler, Hannes

doi:10.1109/icorr.2015.7281269

Cited by 5 publications

(1 citation statement)

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“…Some studies proposed the use of an asymmetric parallel mechanism to reduce the effects of mechanical constraints [6]. Other studies focused on how the lack of anatomical degrees of freedom influenced the walking behavior of healthy adults [7]. The results showed that locking the ankle imposed a change in the trajectory of the hip and knee joints.…”

Section: Introductionmentioning

confidence: 99%

Feasibility and Application of the B.E.A.T. Testbed for Assessing the Effects of Lower Limb Exoskeletons on Human Balance

et al. 2022

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Assessing the performance of exoskeletons in assisting human balance is important for their design process. This study proposes a novel testbed, the B.E.A.T (Balance Evaluation Automated Testbed) to address this aim. We applied the B.E.A.T to evaluate how the presence of a lower limb exoskeleton influenced human balance. The B.E.A.T. consists of a robotic platform, standardized protocols, and performance indicators. Fifteen healthy subjects were enrolled and subjected to repeatable step-type ground perturbations in different directions using the multi-axis robotic platform. Each participant performed three trials, both with and without the exoskeleton (EXO and No-EXO conditions). Nine performance indicators, divided into kinematic and body stability indicators, were computed. The reliability of performance indicators was assessed by computing the Inter Class Correlation (ICC). The indicators showed good (0.60 ≤ ICC < 0.75) to excellent (ICC ≥ 0.75) reliability. The comparison between the EXO and No-EXO conditions revealed a significant increase in the joint range of motion and the center of pressure displacement while wearing the exoskeleton. The main differences between the EXO and No-EXO conditions were found in the range of motion of the knee joints, with an increment up to 17° in the sagittal plane.

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Section: Introductionmentioning

confidence: 99%