Optimization of the Position and Stiffness of Passive Walking Assistance Devices
Walking is a fundamental movement in daily life; however, many factors affect walking that may reduce the mobility of the people. Walking assistance devices can help with gaining mobility back for people who suffer from walking problems. In the present study, a computational method to determine the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/7/4198 |
| _version_ | 1797608387020587008 |
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| author | Cem Guzelbulut Satoshi Shimono Katsuyuki Suzuki |
| author_facet | Cem Guzelbulut Satoshi Shimono Katsuyuki Suzuki |
| author_sort | Cem Guzelbulut |
| collection | DOAJ |
| description | Walking is a fundamental movement in daily life; however, many factors affect walking that may reduce the mobility of the people. Walking assistance devices can help with gaining mobility back for people who suffer from walking problems. In the present study, a computational method to determine the location and stiffness of the assistive walking systems was developed. The human walking model was created by using nine rigid bodies and eight revolute joints connecting them in the sagittal plane. The walking assistance system was considered as a tension spring with both ends attached to the human walking model. A coordinate system was defined along the distal–proximal direction of the human body. The position of the walking assistance system was determined by using four design variables, and the optimal position of the assistive walking system to reduce the total positive joint energy was found around the hip joint at a walking speed of 1.3 m/s. Hip joint moment and power were significantly affected by the walking assistance system, and the total positive joint energy was reduced by 8.8%. Because walking speed significantly affects walking kinematics and kinetics, the effect of walking speed on the optimal walking assistance device was investigated. The position of the device was kept the same, and the optimal stiffness and free length of the spring were found at different walking speeds. Two different cases were considered: a speed-specific design in which stiffness characteristics were separately optimized for each speed and a general design in which stiffness characteristics were optimized by considering all walking speeds. It was found that, in both cases, hip joint moment and power significantly reduced, and the speed-specific design produced a slightly larger reduction in total joint energy. The performance of the walking assistance systems in both cases were found to be higher at faster walking speeds. |
| first_indexed | 2024-03-11T05:42:47Z |
| format | Article |
| id | doaj.art-4f00930f04f3484c91ac8ae9c1370726 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T05:42:47Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-4f00930f04f3484c91ac8ae9c13707262023-11-17T16:16:55ZengMDPI AGApplied Sciences2076-34172023-03-01137419810.3390/app13074198Optimization of the Position and Stiffness of Passive Walking Assistance DevicesCem Guzelbulut0Satoshi Shimono1Katsuyuki Suzuki2Department of Systems Innovation, School of Engineering, The University of Tokyo, Tokyo 113-8656, JapanMitsubishi Chemical Group Corporation, Tokyo 100-8251, JapanDepartment of Systems Innovation, School of Engineering, The University of Tokyo, Tokyo 113-8656, JapanWalking is a fundamental movement in daily life; however, many factors affect walking that may reduce the mobility of the people. Walking assistance devices can help with gaining mobility back for people who suffer from walking problems. In the present study, a computational method to determine the location and stiffness of the assistive walking systems was developed. The human walking model was created by using nine rigid bodies and eight revolute joints connecting them in the sagittal plane. The walking assistance system was considered as a tension spring with both ends attached to the human walking model. A coordinate system was defined along the distal–proximal direction of the human body. The position of the walking assistance system was determined by using four design variables, and the optimal position of the assistive walking system to reduce the total positive joint energy was found around the hip joint at a walking speed of 1.3 m/s. Hip joint moment and power were significantly affected by the walking assistance system, and the total positive joint energy was reduced by 8.8%. Because walking speed significantly affects walking kinematics and kinetics, the effect of walking speed on the optimal walking assistance device was investigated. The position of the device was kept the same, and the optimal stiffness and free length of the spring were found at different walking speeds. Two different cases were considered: a speed-specific design in which stiffness characteristics were separately optimized for each speed and a general design in which stiffness characteristics were optimized by considering all walking speeds. It was found that, in both cases, hip joint moment and power significantly reduced, and the speed-specific design produced a slightly larger reduction in total joint energy. The performance of the walking assistance systems in both cases were found to be higher at faster walking speeds.https://www.mdpi.com/2076-3417/13/7/4198exoskeletonswalking assistanceexosuitoptimizationjoint momentjoint power |
| spellingShingle | Cem Guzelbulut Satoshi Shimono Katsuyuki Suzuki Optimization of the Position and Stiffness of Passive Walking Assistance Devices Applied Sciences exoskeletons walking assistance exosuit optimization joint moment joint power |
| title | Optimization of the Position and Stiffness of Passive Walking Assistance Devices |
| title_full | Optimization of the Position and Stiffness of Passive Walking Assistance Devices |
| title_fullStr | Optimization of the Position and Stiffness of Passive Walking Assistance Devices |
| title_full_unstemmed | Optimization of the Position and Stiffness of Passive Walking Assistance Devices |
| title_short | Optimization of the Position and Stiffness of Passive Walking Assistance Devices |
| title_sort | optimization of the position and stiffness of passive walking assistance devices |
| topic | exoskeletons walking assistance exosuit optimization joint moment joint power |
| url | https://www.mdpi.com/2076-3417/13/7/4198 |
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