Abstract
Previous studies of robotic exoskeletons and prostheses with regenerative actuators have focused on level-ground walking. Here we analyzed the lower-limb joint mechanical power during stand-to-sit movements using inverse dynamics to estimate the biomechanical energy available for electrical regeneration. Nine subjects performed 20 sitting and standing movements while lower-limb kinematics and ground reaction forces were measured. Subject-specific body segment parameters were estimated using parameter identification. Joint mechanical power was calculated from joint torques and rotational velocities and numerically integrated over time to estimate the joint biomechanical energy. The hip absorbed the largest peak negative mechanical power (1.8 ± 0.5 W/kg), followed by the knee (0.8 ± 0.3 W/kg) and ankle (0.2 ± 0.1 W/kg). Negative mechanical work on the hip, knee, and ankle joints per stand-to-sit movement were 0.35 ± 0.06 J/kg, 0.15 ± 0.08 J/kg, and 0.02 ± 0.01 J/kg, respectively. Assuming known regenerative actuator efficiencies (i.e., maximum 63%), robotic exoskeletons and prostheses could regenerate 26 Joules of electrical energy while sitting down, compared to 19 Joules per walking stride. Given that these regeneration performance calculations are based on healthy young adults, future research should include seniors and/or rehabilitation patients to better estimate the biomechanical energy available for electrical regeneration.
Original language | English (US) |
---|---|
Article number | 9351558 |
Pages (from-to) | 455-462 |
Number of pages | 8 |
Journal | IEEE Transactions on Medical Robotics and Bionics |
Volume | 3 |
Issue number | 2 |
DOIs | |
State | Published - May 2021 |
Externally published | Yes |
Keywords
- Biomechanics
- efficiency
- exoskeletons
- prosthetics
- wearable robotics
ASJC Scopus subject areas
- Computer Science Applications
- Artificial Intelligence
- Human-Computer Interaction
- Control and Optimization
- Biomedical Engineering