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Leg Force Control Through Biarticular Muscles for Human Walking Assistance

Sharbafi, Maziar A. ; Barazesh, Hamid ; Iranikhah, Majid ; Seyfarth, Andre (2018):
Leg Force Control Through Biarticular Muscles for Human Walking Assistance.
In: Frontiers in Neurorobotics, 12, Frontiers, ISSN 1662-5218,

Copyright Information: CC BY 4.0 International - Creative Commons, Attribution.

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Item Type: Article
Origin: Secondary publication via sponsored Golden Open Access
Title: Leg Force Control Through Biarticular Muscles for Human Walking Assistance
Language: English

Assistive devices can be considered as one of the main applications of legged locomotion research in daily life. In order to develop an efficient and comfortable prosthesis or exoskeleton, biomechanical studies on human locomotion are very useful. In this paper, the applicability of the FMCH (force modulated compliant hip) model is investigated for control of lower limb wearable exoskeletons. This is a bioinspired method for posture control, which is based on the virtual pivot point (VPP) concept, found in human walking. By implementing the proposed method on a detailed neuromuscular model of human walking, we showed that using a biarticular actuator parallel to the hamstring muscle, activation in most of the leg muscles can be reduced. In addition, the total metabolic cost of motion is decreased up to 12%. The simple control rule of assistance is based on leg force feedback which is the only required sensory information.

Journal or Publication Title: Frontiers in Neurorobotics
Volume of the journal: 12
Place of Publication: Darmstadt
Publisher: Frontiers
Classification DDC: 700 Künste und Unterhaltung > 796 Sport
Divisions: 03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 21 Feb 2019 14:03
Last Modified: 13 Dec 2022 10:28
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-85048
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/8504
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