...
In these graphs, you You can see a similaritly similarity between the saturated optimal input and a results of new CMC procedure.
...
Loaded walking | Unloaded walking |
---|---|
Discussion
If we take a look at what happens to metabolic cost, we can see that the result from new CMC procedure reduces metabolic cost more efficiently. However, the reduction is not significant, and it is much lower than the optimal case. The interesting thing is that the realistic actuation input force works better in unloaded walking case than loaded walking case. It makes sense because we requires lower force to assist unloaded walking.ModelBiarticular actuator
Now that we know both ankle actuator hip actuator works well to reduce metabolic cost during loaded walking, the natural progress is to create biarticular actuator which can affect both ankle plantar flexion and hip extension. In order to reduce the number of actuator, I created biarticular actuator with 1 DOF, and see how much it reduces metabolic cost, and what it’s optimal input force is.
...