A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost
© 2018 Int. J. Mech. Eng. Rob. Res. Reducing metabolic cost of walking has long been a challenge for exoskeleton researchers. A recent break-through reported a passive exoskeleton that yielded signifi-cant energy saving with a clutch-spring mechanism working in parallel with calf muscles. In this s...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Published: |
2018
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| Online Access: | http://hdl.handle.net/20.500.11937/67881 |
| _version_ | 1848761683830374400 |
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| author | Shen, Z. Sam, S. Allison, Garry Cui, Lei |
| author_facet | Shen, Z. Sam, S. Allison, Garry Cui, Lei |
| author_sort | Shen, Z. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | © 2018 Int. J. Mech. Eng. Rob. Res. Reducing metabolic cost of walking has long been a challenge for exoskeleton researchers. A recent break-through reported a passive exoskeleton that yielded signifi-cant energy saving with a clutch-spring mechanism working in parallel with calf muscles. In this study we asked whether the same bio-mechanism exists in the hip and knee joints. We employed OpenSim, an open source platform, and the MATLAB Optimization Toolbox to optimize the engaging and disengaging timings and the stiffness of the springs for walking energetic efficiency. When applied to the ankle joint, the proposed approach yielded results that agreed with the reported one. We then extended this method to the hip and knee joints, respectively. The simulations showed the springs could save up to 6.38%, 4.85% and 7.63% for the ankle, knee and hip joints at the optimal stiffness of 8.20kN/m, 7.35kN/m and 4.15kN/m, respectively. |
| first_indexed | 2025-11-14T10:35:34Z |
| format | Journal Article |
| id | curtin-20.500.11937-67881 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T10:35:34Z |
| publishDate | 2018 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-678812018-05-18T08:05:51Z A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost Shen, Z. Sam, S. Allison, Garry Cui, Lei © 2018 Int. J. Mech. Eng. Rob. Res. Reducing metabolic cost of walking has long been a challenge for exoskeleton researchers. A recent break-through reported a passive exoskeleton that yielded signifi-cant energy saving with a clutch-spring mechanism working in parallel with calf muscles. In this study we asked whether the same bio-mechanism exists in the hip and knee joints. We employed OpenSim, an open source platform, and the MATLAB Optimization Toolbox to optimize the engaging and disengaging timings and the stiffness of the springs for walking energetic efficiency. When applied to the ankle joint, the proposed approach yielded results that agreed with the reported one. We then extended this method to the hip and knee joints, respectively. The simulations showed the springs could save up to 6.38%, 4.85% and 7.63% for the ankle, knee and hip joints at the optimal stiffness of 8.20kN/m, 7.35kN/m and 4.15kN/m, respectively. 2018 Journal Article http://hdl.handle.net/20.500.11937/67881 10.18178/ijmerr.7.1.55-60 restricted |
| spellingShingle | Shen, Z. Sam, S. Allison, Garry Cui, Lei A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| title | A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| title_full | A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| title_fullStr | A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| title_full_unstemmed | A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| title_short | A simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| title_sort | simulation-based study on a clutch-spring mechanism reducing human walking metabolic cost |
| url | http://hdl.handle.net/20.500.11937/67881 |