Abstract
Walking is a fundamental but important activity for independent daily life. We designed an intuitive controller (called negative damping controller) for the elderly to walk more efficiently. The controller behaves as a negative damping for the hip joint to eliminate natural energy dissipation terms and is capable of mimicking the biological torque profile. The primary objective of this study is to evaluate the effects of the controller on the biomechanical and physiological aspects of gait. As a first step, we measured gait parameters and muscle activation levels for a subject during overground walking with and without exoskeleton at self-selected speed. The experimental results show that the negative damping controller has the potential to enable the wearer to walk overground with larger hip range of motion and lower muscle activation: the hip range of motion increased about 21.9% and the average muscle activation levels decreased about 18.0% in rectus femoris and about 23.7% in bicep femoris.
This work was supported by Institute for Information & communications Technology Promotion(IITP) grant funded by the Korea government(MSIP) (No. 2016-0-00452, Development of creative technology based on complex 3D printing technology for labor, the elderly and the disabled).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Yan, T., Cempini, M., Oddo, C.M., Vitiello, N.: Review of assistive strategies in powered lower-limb orthosis and exoskeletons. Robot. Auton. Syst. 64(3), 120–136 (2015)
Sawicki, G.S., Lewis, C.L., Ferris, D.P.: It pays to have a spring in your step. Exer. Sports Sci. Rev. 37(3), 130–138 (2009)
Ding, Y., Caliana, I., Siviy, C., Panizzolo, F.A., Walsh, C.: IMU-based iterative control for hip extension assistance with a soft exosuit. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3501–3508 (2016)
Zarrugh, M.Y., Radcliffe, C.W.: Predicting metabolic cost of level walking. Eur. J. Appl. Physiol. Occup. Physiol. 38(3), 215–223 (1978)
Donelan, J.M., Kram, R., Kuo, A.D.: Mechanical and metabolic determinants of the preferred step width in human walking. Proc. R. Soc. Lond. Ser. B Biol. Sci. 268(1480), 1985–1992 (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Lee, J., Bae, J., Kwon, C., Hwang, S., Kim, G. (2019). The Effect of Negative Damping at the Hip Joint During Level Walking: A Preliminary Testing. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_83
Download citation
DOI: https://doi.org/10.1007/978-3-030-01887-0_83
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-01886-3
Online ISBN: 978-3-030-01887-0
eBook Packages: EngineeringEngineering (R0)