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• W1984408340 endingPage "046018" @default.
• W1984408340 startingPage "046018" @default.
• W1984408340 abstract "Development of robotic exoskeletons to assist/enhance human locomotor performance involves lengthy prototyping, testing, and analysis. This process is further convoluted by variability in limb/body morphology and preferred gait patterns between individuals. In an attempt to expedite this process, and establish a physiological basis for actuator prescription, we developed a simple, predictive model of human neuromechanical adaptation to a passive elastic exoskeleton applied at the ankle joint during a functional task. We modeled the human triceps surae-Achilles tendon muscle tendon unit (MTU) as a single Hill-type muscle, or contractile element (CE), and series tendon, or series elastic element (SEE). This modeled system was placed under gravitational load and underwent cyclic stimulation at a regular frequency (i.e. hopping) with and without exoskeleton (Exo) assistance. We explored the effect that both Exo stiffness (kExo) and muscle activation (Astim) had on combined MTU and Exo (MTU + Exo), MTU, and CE/SEE mechanics and energetics. Model accuracy was verified via qualitative and quantitative comparisons between modeled and prior experimental outcomes. We demonstrated that reduced Astim can be traded for increased kExo to maintain consistent MTU + Exo mechanics (i.e. average positive power (P⁺mech) output) from an unassisted condition (i.e. kExo = 0 kN · m⁻¹). For these regions of parameter space, our model predicted a reduction in MTU force, SEE energy cycling, and metabolic rate (Pmet), as well as constant CE P⁺mech output compared to unassisted conditions. This agreed with previous experimental observations, demonstrating our model's predictive ability. Model predictions also provided insight into mechanisms of metabolic cost minimization, and/or enhanced mechanical performance, and we concluded that both of these outcomes cannot be achieved simultaneously, and that one must come at the detriment of the other in a spring-assisted compliant MTU." @default.
• W1984408340 created "2016-06-24" @default.
• W1984408340 creator A5022375755 @default.
• W1984408340 creator A5056784968 @default.
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• W1984408340 date "2014-11-24" @default.
• W1984408340 modified "2023-09-27" @default.
• W1984408340 title "More is not always better: modeling the effects of elastic exoskeleton compliance on underlying ankle muscle–tendon dynamics" @default.
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• W1984408340 doi "https://doi.org/10.1088/1748-3182/9/4/046018" @default.
• W1984408340 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/25417578" @default.
• W1984408340 hasPublicationYear "2014" @default.
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