Ankle Pathologic Gait Assistance of a Hip Exoskeleton: Simulation and Experiment

Bokman Lim; Sun Hee Hwang; Seungyong Hyung; Jusuk Lee; Youngbo Shim; Byung Ok Choi

doi:10.1109/LRA.2018.2810863

Ankle Pathologic Gait Assistance of a Hip Exoskeleton: Simulation and Experiment

Bokman Lim, Sun Hee Hwang, Seungyong Hyung, Jusuk Lee, Youngbo Shim, Byung Ok Choi

Department of Neurology

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

This letter presents a simulation framework for hip assistance in ankle pathologies. We first constructed the neuromuscular walking model, then designed the parameters for assistance torques for stance and swing legs. The parameter values were determined by carrying out dynamic optimizations that takes into account the human-exoskeleton interactive dynamics. The case studies involved abnormal gaits with foot drop, and foot drop and plantarflexion failure. We conducted clinical trials on Charcot-Marie-Tooth patients with various degree of severity using the assistance torque generated by the simulation. We evaluated the gait speed for different gait types with different assistance timings. Our results show that the assistance customization of various gait types is essential for maximizing the assistance effect.

Original language	English
Pages (from-to)	2190-2197
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	3
Issue number	3
DOIs	https://doi.org/10.1109/LRA.2018.2810863
State	Published - Jul 2018

Keywords

assistance customization
pathologic gait simulation
Physical human-robot interaction
wearable robots

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10.1109/LRA.2018.2810863

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title = "Ankle Pathologic Gait Assistance of a Hip Exoskeleton: Simulation and Experiment",

abstract = "This letter presents a simulation framework for hip assistance in ankle pathologies. We first constructed the neuromuscular walking model, then designed the parameters for assistance torques for stance and swing legs. The parameter values were determined by carrying out dynamic optimizations that takes into account the human-exoskeleton interactive dynamics. The case studies involved abnormal gaits with foot drop, and foot drop and plantarflexion failure. We conducted clinical trials on Charcot-Marie-Tooth patients with various degree of severity using the assistance torque generated by the simulation. We evaluated the gait speed for different gait types with different assistance timings. Our results show that the assistance customization of various gait types is essential for maximizing the assistance effect.",

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AU - Lim, Bokman

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AU - Lee, Jusuk

AU - Shim, Youngbo

AU - Choi, Byung Ok

PY - 2018/7

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AB - This letter presents a simulation framework for hip assistance in ankle pathologies. We first constructed the neuromuscular walking model, then designed the parameters for assistance torques for stance and swing legs. The parameter values were determined by carrying out dynamic optimizations that takes into account the human-exoskeleton interactive dynamics. The case studies involved abnormal gaits with foot drop, and foot drop and plantarflexion failure. We conducted clinical trials on Charcot-Marie-Tooth patients with various degree of severity using the assistance torque generated by the simulation. We evaluated the gait speed for different gait types with different assistance timings. Our results show that the assistance customization of various gait types is essential for maximizing the assistance effect.

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Ankle Pathologic Gait Assistance of a Hip Exoskeleton: Simulation and Experiment

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Keywords

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