scholarly journals Reducing the metabolic energy of walking and running using an unpowered hip exoskeleton

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Tiancheng Zhou ◽  
Caihua Xiong ◽  
Juanjuan Zhang ◽  
Di Hu ◽  
Wenbin Chen ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Design Method ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Spring Stiffness ◽  
Spatiotemporal Parameters ◽  
The Common ◽  
Hip Flexion ◽  
Optimal Stiffness ◽  
Insight Into

Abstract Background Walking and running are the most common means of locomotion in human daily life. People have made advances in developing separate exoskeletons to reduce the metabolic rate of walking or running. However, the combined requirements of overcoming the fundamental biomechanical differences between the two gaits and minimizing the metabolic penalty of the exoskeleton mass make it challenging to develop an exoskeleton that can reduce the metabolic energy during both gaits. Here we show that the metabolic energy of both walking and running can be reduced by regulating the metabolic energy of hip flexion during the common energy consumption period of the two gaits using an unpowered hip exoskeleton. Methods We analyzed the metabolic rates, muscle activities and spatiotemporal parameters of 9 healthy subjects (mean ± s.t.d; 24.9 ± 3.7 years, 66.9 ± 8.7 kg, 1.76 ± 0.05 m) walking on a treadmill at a speed of 1.5 m s−1 and running at a speed of 2.5 m s−1 with different spring stiffnesses. After obtaining the optimal spring stiffness, we recruited the participants to walk and run with the assistance from a spring with optimal stiffness at different speeds to demonstrate the generality of the proposed approach. Results We found that the common optimal exoskeleton spring stiffness for walking and running was 83 Nm Rad−1, corresponding to 7.2% ± 1.2% (mean ± s.e.m, paired t-test p < 0.01) and 6.8% ± 1.0% (p < 0.01) metabolic reductions compared to walking and running without exoskeleton. The metabolic energy within the tested speed range can be reduced with the assistance except for low-speed walking (1.0 m s−1). Participants showed different changes in muscle activities with the assistance of the proposed exoskeleton. Conclusions This paper first demonstrates that the metabolic cost of walking and running can be reduced using an unpowered hip exoskeleton to regulate the metabolic energy of hip flexion. The design method based on analyzing the common energy consumption characteristics between gaits may inspire future exoskeletons that assist multiple gaits. The results of different changes in muscle activities provide new insight into human response to the same assistive principle for different gaits (walking and running).

Reducing the metabolic energy of walking and running using an unpowered hip exoskeleton

2020 ◽  
Author(s):  
Tiancheng Zhou ◽  
Caihua Xiong ◽  
Juanjuan Zhang ◽  
Di Hu ◽  
Wenbin Chen ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Design Method ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Human Response ◽  
Speed Range ◽  
The Common ◽  
Spatio Temporal ◽  
Hip Flexion ◽  
Optimal Stiffness

Abstract Background: Walking and running are the most common means of locomotion in human daily life. People have made advances in developing separate exoskeletons to reduce metabolic rate of walking or running. However, the combined requirements of overcoming fundamental biomechanical differences between the two gaits and minimizing the metabolic penalty of exoskeleton mass make it challenging to develop an exoskeleton that can reduce the metabolic energy for both gaits. Here we show that the metabolic energy of both walking and running can be reduced by regulating the metabolic energy of hip flexion during the common energy consumption period of the two gaits using an unpowered hip exoskeleton. Methods: We analyzed metabolic rates, muscle activities and spatio-temporal parameters from 9 healthy subjects (mean s.t.d; 24.9 ± 3.7 years, 66.9 ± 8.7 kg, 1.76 ± 0.05 m) walking on a treadmill at the speed of 1.5 m×s -1 and running at speed of 2.5 m×s -1 with different spring stiffnesses. After obtaining the optimal spring stiffness, we recruited the participants to walk and run with the optimal stiffness spring at different speeds to demonstrate the generality of the proposed approach. Results: We found that the optimal exoskeleton spring stiffnesses for walking and running were 140 N×m Rad -1 and 210 N×m Rad -1 respectively, corresponding to 8.2% ± 1.5% (mean ± s.e.m, two-sided paired t-test: p < 0.01) and 9.1% ± 1.3% ( p < 0.01) metabolic reductions compared to walking/running without exoskeleton. The metabolic energy within tested speed range can be reduced with the assistance except for low speed walking (1.0 m s -1 ). Participants showed different changes in muscle activities with the assistance of proposed exoskeleton. Conclusions: This paper first demonstrated that metabolic cost of walking and running can be reduced using an unpowered hip exoskeleton to regulate metabolic energy of hip flexion. The design method based on analyzing the common energy consumption characteristics between gaits may inspire future exoskeletons that assist multiple gaits. The results of different changes in muscle activities provided a new insight of human response to the same assistive principle in different gaits (walking and running).

scholarly journals A Single Assistive Profile Applied by a Passive Hip Flexion Device Can Reduce the Energy Cost of Walking in Older Adults

2021 ◽  
Vol 11 (6) ◽  
pp. 2851
Author(s):  
Fausto Antonio Panizzolo ◽  
Eugenio Annese ◽  
Antonio Paoli ◽  
Giuseppe Marcolin
Keyword(s):  
Older Adults ◽  
Energy Cost ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Assistive Device ◽  
Spatiotemporal Parameters ◽  
Negative Effect ◽  
Low Torque ◽  
Hip Flexion ◽  
Energy Cost Of Walking

Difficulty walking in older adults affects their independence and ability to execute daily tasks in an autonomous way, which can result in a negative effect to their health status and risk of morbidity. Very often, reduced walking speed in older adults is caused by an elevated metabolic energy cost. Passive exoskeletons have been shown to offer a promising solution for lowering the energy cost of walking, and their simplicity could favor their use in real world settings. The goal of this study was to assess if a constant and consistent low torque applied by means of a passive exoskeleton to the hip flexors during walking could provide higher and more consistent metabolic cost reduction than previously achieved. Eight older adults walked on a treadmill at a constant speed of 1.1 m/s with and without the hip assistive device. Metabolic power and spatiotemporal parameters were measured during walking in these two conditions of testing. The hip assistive device was able to apply a low torque which initiates its assistive effect at mid-stance. This reduced the metabolic cost of walking across all the participants with respect to free walking (−4.2 ± 1.9%; p = 0.002). There were no differences in the spatiotemporal parameters reported. This study strengthened the evidence that passive assistive devices can be a valuable tool to reduce metabolic cost of walking in older adults. These findings highlighted the importance of investigating torque profiles to improve the performance provided by a hip assistive device. The simplicity and usability of a system of this kind can make it a suitable candidate for improving older adults’ independence.

scholarly journals A PHYSIOLOGIST'S PERSPECTIVE ON ROBOTIC EXOSKELETONS FOR HUMAN LOCOMOTION

2007 ◽  
Vol 04 (03) ◽  
pp. 507-528 ◽  
Author(s):  
DANIEL P. FERRIS ◽  
GREGORY S. SAWICKI ◽  
MONICA A. DALEY
Keyword(s):  
Science Fiction ◽  
Metabolic Cost ◽  
Human Locomotion ◽  
Metabolic Energy ◽  
Future Research ◽  
Future Studies ◽  
Technological Advances ◽  
Cost Of Locomotion ◽  
Metabolic Energy Expenditure ◽  
Insight Into

Technological advances in robotic hardware and software have enabled powered exoskeletons to move from science fiction to the real world. The objective of this article is to emphasize two main points for future research. First, the design of future devices could be improved by exploiting biomechanical principles of animal locomotion. Two goals in exoskeleton research could particularly benefit from additional physiological perspective: (i) reduction in the metabolic energy expenditure of the user while wearing the device, and (ii) minimization of the power requirements for actuating the exoskeleton. Second, a reciprocal potential exists for robotic exoskeletons to advance our understanding of human locomotor physiology. Experimental data from humans walking and running with robotic exoskeletons could provide important insight into the metabolic cost of locomotion that is impossible to gain with other methods. Given the mutual benefits of collaboration, it is imperative that engineers and physiologists work together in future studies on robotic exoskeletons for human locomotion.

Energetics of bipedal running. I. Metabolic cost of generating force.

1998 ◽  
Vol 201 (19) ◽  
pp. 2745-2751 ◽  
Author(s):  
T J Roberts ◽  
R Kram ◽  
P G Weyand ◽  
C R Taylor
Keyword(s):  
Body Weight ◽  
Energy Consumption ◽  
Metabolic Rate ◽  
Body Mass ◽  
Energy Use ◽  
Force Production ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Force Generation ◽  
Running Mechanics

Similarly sized bipeds and quadrupeds use nearly the same amount of metabolic energy to run, despite dramatic differences in morphology and running mechanics. It has been shown that the rate of metabolic energy use in quadrupedal runners and bipedal hoppers can be predicted from just body weight and the time available to generate force as indicated by the duration of foot-ground contact. We tested whether this link between running mechanics and energetics also applies to running bipeds. We measured rates of energy consumption and times of foot contact for humans (mean body mass 78.88 kg) and five species of birds (mean body mass range 0.13-40.1 kg). We find that most (70-90%) of the increase in metabolic rate with speed in running bipeds can be explained by changes in the time available to generate force. The rate of force generation also explains differences in metabolic rate over the size range of birds measured. However, for a given rate of force generation, birds use on average 1.7 times more metabolic energy than quadrupeds. The rate of energy consumption for a given rate of force generation for humans is intermediate between that of birds and quadrupeds. These results support the idea that the cost of muscular force production determines the energy cost of running and suggest that bipedal runners use more energy for a given rate of force production because they require a greater volume of muscle to support their body weight.

What Can Economists Contribute to the Common Good Tradition?

2017 ◽  
Author(s):  
Andrew M. Yuengert
Keyword(s):  
Common Good ◽  
Common Pool Resources ◽  
Economic Approach ◽  
Public And Private ◽  
Private Provision ◽  
The Public ◽  
The Common Good ◽  
The Common ◽  
The Individual ◽  
Insight Into

Although most economists are skeptical of or puzzled by the Catholic concept of the common good, a rejection of the economic approach as inimical to the common good would be hasty and counterproductive. Economic analysis can enrich the common good tradition in four ways. First, economics embodies a deep respect for economic agency and for the effects of policy and institutions on individual agents. Second, economics offers a rich literature on the nature of unplanned order and how it might be shaped by policy. Third, economics offers insight into the public and private provision of various kinds of goods (private, public, common pool resources). Fourth, recent work on the development and logic of institutions and norms emphasizes sustainability rooted in the good of the individual.

scholarly journals Reduced Achilles Tendon Stiffness Disrupts Calf Muscle Neuromechanics in Elderly Gait

Gerontology ◽  
2021 ◽  
pp. 1-11
Author(s):  
Rebecca L. Krupenevich ◽  
Owen N. Beck ◽  
Gregory S. Sawicki ◽  
Jason R. Franz
Keyword(s):  
Older Adults ◽  
Achilles Tendon ◽  
Metabolic Cost ◽  
Calf Muscle ◽  
Metabolic Energy ◽  
Joint Work ◽  
Tendon Stiffness ◽  
Age Related ◽  
Ankle Muscle ◽  
Metabolic Energy Expenditure

Older adults walk slower and with a higher metabolic energy expenditure than younger adults. In this review, we explore the hypothesis that age-related declines in Achilles tendon stiffness increase the metabolic cost of walking due to less economical calf muscle contractions and increased proximal joint work. This viewpoint may motivate interventions to restore ankle muscle-tendon stiffness, improve walking mechanics, and reduce metabolic cost in older adults.

scholarly journals Using a simple rope-pulley system that mechanically couples the arms, legs, and treadmill reduces the metabolic cost of walking

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Daisey Vega ◽  
Christopher J. Arellano
Keyword(s):  
Metabolic Cost ◽  
Metabolic Energy ◽  
Metabolic Effects ◽  
Whole Body ◽  
Walking Ability ◽  
Arm Swing ◽  
Pulley System ◽  
Young Subjects ◽  
Walking Recovery ◽  
Set Up

Abstract Background Emphasizing the active use of the arms and coordinating them with the stepping motion of the legs may promote walking recovery in patients with impaired lower limb function. Yet, most approaches use seated devices to allow coupled arm and leg movements. To provide an option during treadmill walking, we designed a rope-pulley system that physically links the arms and legs. This arm-leg pulley system was grounded to the floor and made of commercially available slotted square tubing, solid strut channels, and low-friction pulleys that allowed us to use a rope to connect the subject’s wrist to the ipsilateral foot. This set-up was based on our idea that during walking the arm could generate an assistive force during arm swing retraction and, therefore, aid in leg swing. Methods To test this idea, we compared the mechanical, muscular, and metabolic effects between normal walking and walking with the arm-leg pulley system. We measured rope and ground reaction forces, electromyographic signals of key arm and leg muscles, and rates of metabolic energy consumption while healthy, young subjects walked at 1.25 m/s on a dual-belt instrumented treadmill (n = 8). Results With our arm-leg pulley system, we found that an assistive force could be generated, reaching peak values of 7% body weight on average. Contrary to our expectation, the force mainly coincided with the propulsive phase of walking and not leg swing. Our findings suggest that subjects actively used their arms to harness the energy from the moving treadmill belt, which helped to propel the whole body via the arm-leg rope linkage. This effectively decreased the muscular and mechanical demands placed on the legs, reducing the propulsive impulse by 43% (p < 0.001), which led to a 17% net reduction in the metabolic power required for walking (p = 0.001). Conclusions These findings provide the biomechanical and energetic basis for how we might reimagine the use of the arms in gait rehabilitation, opening the opportunity to explore if such a method could help patients regain their walking ability. Trial registration: Study registered on 09/29/2018 in ClinicalTrials.gov (ID—NCT03689647).

Studies on the Toxicity of Aromatic Hydrocarbons on Chorella Vulgaris by 3D-QSAR Using CoMFA and CoMSIA Methods

2012 ◽  
Vol 610-613 ◽  
pp. 3574-3579
Author(s):  
Cui Hua Wang ◽  
Sheng Long Yang ◽  
Chao Lu ◽  
Hong Xia Yu ◽  
Lian Shen Wang ◽  
...  
Keyword(s):  
Benzene Ring ◽  
Aromatic Hydrocarbons ◽  
Common Factor ◽  
3D Qsar ◽  
The Other ◽  
Contour Maps ◽  
Substituent Group ◽  
Donor And Acceptor ◽  
The Common ◽  
Insight Into

By using CoMFA and CoMSIA methods, the new quantitative structures of 25 aromatic hydrocarbons and the 96 hr-EC50 data with C. vulgaris have been investigated to obtain more detailed insight into the relationships between molecular structure and bioactivity. Compared to CoMFA (the average Q2LOO option =0.610), CoMSIA (the average Q2LOO =0.736) has the better results with robustness and stability. CoMSIA analysis using steric, electrostatic, hydrophobic, and H-bond donor and acceptor descriptors show H-bond donor is the common factor for influencing the toxicity, the steric and electrostatic descriptors are next and the hydrophobic descriptor was last. From the contour maps, the number of benzene ring is more crucial for the compound toxicity and the compounds with more benzene ring make toxicity increased. Under the same number of benzene ring, the kind of substituent group and the formed ability of H-bond are the other parameters to influencing the aromatic hydrocarbons toxicity.

An Inverse Force Analysis of a Planar Two-Spring System

1994 ◽  
Author(s):  
Thomas M. Pigoski ◽  
Joseph Duffy
Keyword(s):  
The Other ◽  
Spring Stiffness ◽  
Force Analysis ◽  
Degree Polynomial ◽  
Real Solutions ◽  
Variable Elimination ◽  
Spring System ◽  
The Common ◽  
Resultant Length ◽  
Inverse Force

Abstract A closed-form inverse force analysis was performed on a planar two-spring system. The two springs were grounded to pivots at one end and attached to a common pivot at the other. A known force was applied to the common pivot of the system, and it was required to determine all of the assembly configurations. By variable elimination, a sixth degree polynomial in the resultant length of one spring was derived, and from this, six real solutions of the point of application of force were obtained. Following this, the applied force was incremented along a line and the six paths of the moving pivot were tracked starting from the zero-load configurations. An analysis of these results showed stability phenomena indicating the workspace of this system contained regions of negative spring stiffness and points of catastrophe.

scholarly journals Walking in simulated reduced gravity: mechanical energy fluctuations and exchange

1999 ◽  
Vol 86 (1) ◽  
pp. 383-390 ◽  
Author(s):  
Timothy M. Griffin ◽  
Neil A. Tolani ◽  
Rodger Kram
Keyword(s):  
Kinetic Energy ◽  
Potential Energy ◽  
Gravitational Potential ◽  
Inverted Pendulum ◽  
Mechanical Energy ◽  
Center Of Mass ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Gravitational Potential Energy ◽  
Reduced Gravity

Walking humans conserve mechanical and, presumably, metabolic energy with an inverted pendulum-like exchange of gravitational potential energy and horizontal kinetic energy. Walking in simulated reduced gravity involves a relatively high metabolic cost, suggesting that the inverted-pendulum mechanism is disrupted because of a mismatch of potential and kinetic energy. We tested this hypothesis by measuring the fluctuations and exchange of mechanical energy of the center of mass at different combinations of velocity and simulated reduced gravity. Subjects walked with smaller fluctuations in horizontal velocity in lower gravity, such that the ratio of horizontal kinetic to gravitational potential energy fluctuations remained constant over a fourfold change in gravity. The amount of exchange, or percent recovery, at 1.00 m/s was not significantly different at 1.00, 0.75, and 0.50 G (average 64.4%), although it decreased to 48% at 0.25 G. As a result, the amount of work performed on the center of mass does not explain the relatively high metabolic cost of walking in simulated reduced gravity.

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