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Strategy
Experimental data
Two different types of data was collected from a same subject.
One gait cycle of loaded walking (From left toe off to next left toe off)
One gait cycle of unloaded walking (From left toe off to next left toe off)
For both data, walking speed is identical, and loaded weight was 38kg.
Modeling
How to model a subject wearing active actuator
Sample models
Optimization process
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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
Widget Connector url http://www.youtube.com/watch?v=BeAE24HNzm8&feature=youtu.be Widget Connector url http://www.youtube.com/watch?v=ek5VLPEK9oU&feature=youtu.be Discussion
Conclusion
References