Emulator-Based Optimization of a Semi-Active Hip Exoskeleton Concept: Sweeping Impedance Across Walking Speeds.

Objective: Semi-active exoskeletons combining lightweight, low powered actuators and passive-elastic elements are a promising approach to portable robotic assistance during locomotion. Here, we introduce a novel semi-active hip exoskeleton concept and evaluate human walking performance across a range of parameters using a tethered robotic testbed.

Methods: We emulated semi-active hip exoskeleton (exo) assistance by applying a virtual torsional spring with a fixed rotational stiffness and an equilibrium angle established in terminal swing phase (i.

Neuromechanics and Energetics of Walking With an Ankle Exoskeleton Using Neuromuscular-Model Based Control: A Parameter Study.

Powered ankle exoskeletons that apply assistive torques with optimized timing and magnitude can reduce metabolic cost by ∼10% compared to normal walking. However, finding individualized optimal control parameters is time consuming and must be done independently for different walking modes (e.g.