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Assign large value of maximum force to each actuator to reduce the size of xactuator, so that the influence of actuator to J is diminished.
Result & Discussion
Metabolic cost change
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Analysis of optimal input force for ankle actuator
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Best realistic actuation input force for ankle actuator
Biarticular actuator
Model
Simulation result
Discussion
Conclusion
Featured result
•Both hip actuator and ankle actuator can reduce the metabolic cost during walking
–If we can apply sufficient amount of force, it is better to apply force to ankle joint.
–If not, hip actuator is a good alternative, even though it is hard to control
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•The optimal input force for ankle actuator when it’s maximum force is bounded is similar to the general optimal input force saturated at maximum force
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•Biarticular actuator doesn’t assist loaded walking very well and the force input is not consistent.
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•Both hip actuator and ankle actuator can reduce the metabolic cost during walking
–If we can apply sufficient amount of force, it is better to apply force to ankle joint.
–If not, hip actuator is a good alternative, even though it is hard to control
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•Optimal input of ankle actuator is consistent with gait cycle and muscle forces data, while that of hip actuator is not.
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•The simulation methodology to use CMC as an optimization tool works, but more improvement is needed.
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•Longer MA magnifies the effectiveness of Exosuit
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•The optimal input force for ankle actuator when it’s maximum force is bounded is similar to the general optimal input force saturated at maximum force
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•Exosuit offers greater assist for loaded walking than unloaded walking
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•Biarticular actuator doesn’t assist loaded walking very well and the force input is not consistent.
Limitations
•The experimental data was obtained from a subject without exosuit. Exosuit may change the kinematics of a subject as well as GRF.
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•CMC process doesn’t minimize metabolic cost. Instead, it minimizes 2-norm of activation.
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•The experimental data is only one gait cycle
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•More realistic actuator simulation is needed. (E.g. Combination of passive & active actuator)
Source code
You can find the model that I used