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Simulation-based biomechanical assessment of unpowered exoskeletons for running

Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation for human...

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Autores principales: Aftabi, Hamidreza, Nasiri, Rezvan, Ahmadabadi, Majid Nili
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8178327/
https://www.ncbi.nlm.nih.gov/pubmed/34088911
http://dx.doi.org/10.1038/s41598-021-89640-3
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author Aftabi, Hamidreza
Nasiri, Rezvan
Ahmadabadi, Majid Nili
author_facet Aftabi, Hamidreza
Nasiri, Rezvan
Ahmadabadi, Majid Nili
author_sort Aftabi, Hamidreza
collection PubMed
description Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation for human running gait. To do so, the considered case study is the assistive torque profile of I-RUN. Our approach is using some extensive data-driven OpenSim simulation results employing a generic lower limb model with 92-muscles and 29-DOF. In the simulation, it is observed that exoskeleton augmentation leads to [Formula: see text] metabolic rate reduction for the stiffness coefficient of [Formula: see text] . Moreover, this optimum stiffness coefficient minimizes the biological hip moment by [Formula: see text] . The optimum stiffness coefficient ([Formula: see text] ) also reduces the average force of four major hip muscles, i.e., Psoas, Gluteus Maximus, Rectus Femoris, and Semimembranosus. The effect of assistive torque profile on the muscles’ fatigue is also studied. Interestingly, it is observed that at [Formula: see text] , both all 92 lower limb muscles’ fatigue and two hip major mono-articular muscles’ fatigue have the maximum reduction. This result re-confirm our hypothesis that ”reducing the forces of two antagonistic mono-articular muscles is sufficient for involved muscles’ total fatigue reduction.” Finally, the relation between the amount of metabolic rate reduction and kinematics of hip joint is examined carefully where for the first time, we present a reliable kinematic index for prediction of the metabolic rate reduction by I-RUN augmentation. This index not only explains individual differences in metabolic rate reduction but also provides a quantitative measure for training the subjects to maximize their benefits from I-RUN.
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spelling pubmed-81783272021-06-07 Simulation-based biomechanical assessment of unpowered exoskeletons for running Aftabi, Hamidreza Nasiri, Rezvan Ahmadabadi, Majid Nili Sci Rep Article Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation for human running gait. To do so, the considered case study is the assistive torque profile of I-RUN. Our approach is using some extensive data-driven OpenSim simulation results employing a generic lower limb model with 92-muscles and 29-DOF. In the simulation, it is observed that exoskeleton augmentation leads to [Formula: see text] metabolic rate reduction for the stiffness coefficient of [Formula: see text] . Moreover, this optimum stiffness coefficient minimizes the biological hip moment by [Formula: see text] . The optimum stiffness coefficient ([Formula: see text] ) also reduces the average force of four major hip muscles, i.e., Psoas, Gluteus Maximus, Rectus Femoris, and Semimembranosus. The effect of assistive torque profile on the muscles’ fatigue is also studied. Interestingly, it is observed that at [Formula: see text] , both all 92 lower limb muscles’ fatigue and two hip major mono-articular muscles’ fatigue have the maximum reduction. This result re-confirm our hypothesis that ”reducing the forces of two antagonistic mono-articular muscles is sufficient for involved muscles’ total fatigue reduction.” Finally, the relation between the amount of metabolic rate reduction and kinematics of hip joint is examined carefully where for the first time, we present a reliable kinematic index for prediction of the metabolic rate reduction by I-RUN augmentation. This index not only explains individual differences in metabolic rate reduction but also provides a quantitative measure for training the subjects to maximize their benefits from I-RUN. Nature Publishing Group UK 2021-06-04 /pmc/articles/PMC8178327/ /pubmed/34088911 http://dx.doi.org/10.1038/s41598-021-89640-3 Text en © The Author(s) 2021 https://creativecommons.org/licenses/by/4.0/Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Aftabi, Hamidreza
Nasiri, Rezvan
Ahmadabadi, Majid Nili
Simulation-based biomechanical assessment of unpowered exoskeletons for running
title Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_full Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_fullStr Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_full_unstemmed Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_short Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_sort simulation-based biomechanical assessment of unpowered exoskeletons for running
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8178327/
https://www.ncbi.nlm.nih.gov/pubmed/34088911
http://dx.doi.org/10.1038/s41598-021-89640-3
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