Abstract
In the last few years, considerable effort has been devoted to the design of active orthoses to assist human gait. However, few works address the study of muscle forces adaptation in assisted walking [Cain, 2007]. This issue is related to the well known redundancy problem in biomechanics, which is a challenging topic for dynamic simulation and control. In a previous work [Alonso, 2011], the authors used a simple approach to solve the load sharing problem in the combined actuation of the human-orthosis system, with the fundamental hypothesis that joint torques remain constant in the assisted locomotion [Kao, 2010]. The present work investigates the adaptation of muscular forces in the assisted gait of healthy subjects to validate the mentioned solution.
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