Abstract
To improve the walking abilities of the ankle patients with locomotion impairment, a biomimetic Ankle-Exosuit was designed based on the muscle-tendon-ligament model. The Ankle-Exosuit assisted ankle plantarflexion by exerting a force parallel to the muscle to reduce plantar flexor activation and enhance lower extremity walking endurance. The bandage locomotion could be effectively reduced by the designed lacing mechanism. We established the coupled kinematic model of human-exosuit. To determine the opening and closing times of the ankle plantarflexion assistance, a threshold detection algorithm was proposed for the recognition of heel-off (HO) and toe-off (TO). A trajectory generator according to the fusion of the coupled kinematic model and trajectory generation function was developed. Comparison experiments based on the measurements of the surface electromyographic (sEMG) signals demonstrated that when wearing the Ankle-Exosuit, the locomotion activation of the gastrocnemius muscles (GM) and soleus muscles (SM) decreased by 11.09% and 6.5%, respectively. The proposed Ankle-Exosuit can decrease muscle fatigue to achieve effective walking assistance.
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Acknowledgements
This work was funded by Chongqing Science and Technology Commission of China (cstc2020jcyj-msxmX0398), Science and Technology Research Program of Chongqing Municipal Education Commission (KJZD-K202001103, KJQN202201169), the Scientific Research Foundation of Chongqing University of Technology (2019ZD61), and the graduate student Innovation Project of Chongqing (NO. CYS21466). Supported by action plan for quality development of Chongqing University of Technology graduate education (Grant No. gzlcx20233426).
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Zhao, L. et al. (2023). Biomechanical Design, Modeling and Control of an Ankle-Exosuit System. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14268. Springer, Singapore. https://doi.org/10.1007/978-981-99-6486-4_42
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DOI: https://doi.org/10.1007/978-981-99-6486-4_42
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