Abstract
In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive devices were tested. The results about the effect of these external devices on individual muscles of the lower muscle group were analysed which provided effective results.
Highlights
An exoskeleton is a particular kind of mechanical device designed to be worn by an operator that help in assisting limb movement and the execution of a motor task [1]
This paper focuses on the simulation of movement of the exoskeleton wearer using Open Sim platform and the metabolic energy changes associated with the lower extremity muscle group
3.2 With torsional ankle spring A torsional ankle spring is added to the model by using the OpenSim tool
Summary
An exoskeleton is a particular kind of mechanical device designed to be worn by an operator that help in assisting limb movement and the execution of a motor task [1]. Racine, et al developed a lower extremity exoskeleton for load carriage with actuated hip, knee and ankle joints which described an autonomous model [6].Walsh et al designed an quasi passive leg exoskeleton with only ankle and hip springs with a knee variable damper [7]. These devices try to assist human gait but there are certain challenges associated with such devices. It makes it possible to measure the metabolic cost of different muscle groups during the gait cycle
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