Leg Force Control Through Biarticular Muscles for Human Walking Assistance
نویسندگان
چکیده
منابع مشابه
Biarticular leg muscles and links to running economy.
Relationships between an index of running economy (VO2 per distance) and the temporal electromyographic characteristics of leg muscles were quantified in female runners. Sixteen women performed a 30-min treadmill run at a speed designed to elicit a hard rating of perceived of exertion. Near the end of the run, oxygen uptake, video, and electromyographic data were collected simultaneously. Measu...
متن کاملBipedal walking and running with spring-like biarticular muscles.
Compliant elements in the leg musculoskeletal system appear to be important not only for running but also for walking in human locomotion as shown in the energetics and kinematics studies of spring-mass model. While the spring-mass model assumes a whole leg as a linear spring, it is still not clear how the compliant elements of muscle-tendon systems behave in a human-like segmented leg structur...
متن کاملRole of biarticular muscles during the swing phase of walking
Template models can help to demonstrate and prove concepts on human locomotion such as the spring-mass model [1]. Since biarticular muscles may have specific tasks in walking [2], their action during the swing phase is investigated in this study. A new model is presented to describe the swing leg motion (Fig .1). The goal is to identify the role of elastic biarticular muscles on swing leg dynam...
متن کاملMeasurement and simulation of joint motion induced via biarticular muscles during human walking
Gait impairments are often treated via targeted interventions performed on biarticular muscles such as the hamstrings, rectus femoris and gastrocnemius. Computational gait models suggest that biarticular muscle function can be nonintuitive, and at times inconsistent with assumptions that underlie current treatment strategies. However, the accuracy of gait model predictions has not yet been syst...
متن کاملStraight-Leg Walking Through Underconstrained Whole-Body Control
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are biased towards a straight leg configuration by projecting leg joint angle objectives into the null-s...
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ژورنال
عنوان ژورنال: Frontiers in Neurorobotics
سال: 2018
ISSN: 1662-5218
DOI: 10.3389/fnbot.2018.00039