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- Ankle actuator: 10.62%
- Hip actuator: 1.04%
- Things to notice
- The metabolic cost is much lower during unloaded walking than loaded walking. Loaded walking costs only 75% metabolic energy compared to loaded walking.
- Ankle actuator works better to reduce metabolic cost than hip actuator when we can apply optimal input force.
- Hip actuator is not assistive to unloaded gait.
Therefore, we can say that ankle actuator helps metabolic cost reduction better than hip actuator if we have an optimal actuator which has no maximum force limitation.
Optimal actuator input
| Loaded walking | Unloaded walking | |
|---|---|---|
| Ankle actuator |  |  |
| Hip actuator |  |  |
Optimal input force for Ankle actuator
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