Evaluating a reflexive neuromuscular gait model against real-world results
The inner workings of human gait are still not well understood. Many models of human gait exist, although no singular model provides insight on human gait behavior and how it alters under disturbances. In an effort to determine if a neuromuscular walking model is capable of predicting human gait und...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/150285 |
| _version_ | 1826207140589600768 |
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| author | Seelhoff, Carl Andrew |
| author2 | Herr, Hugh M. |
| author_facet | Herr, Hugh M. Seelhoff, Carl Andrew |
| author_sort | Seelhoff, Carl Andrew |
| collection | MIT |
| description | The inner workings of human gait are still not well understood. Many models of human gait exist, although no singular model provides insight on human gait behavior and how it alters under disturbances. In an effort to determine if a neuromuscular walking model is capable of predicting human gait under torque disturbances from an ankle-mounted exoskeleton, the results of a prior experiment involving able-bodied subjects with ankle-mounted exoskeletons attached to their feet were recreated in a MATLAB simulation. An optimization-based workflow attempts to reproduce experimental results through selection of optimization objectives based on human gait metrics, producing walking simulations and comparing them with real-world results and establishing a framework which can be applied to future research and analysis. While the optimized simulations do not accurately reproduce human gait as seen in experiments, the gait patterns observed align broadly in some characteristics, and some objective choices produce more convincing results than others. Further testing and more robust statistical analysis is needed to soundly determine whether this model can be predictive of human gait behavior and what minimal set of constraints and optimization objectives is needed to do so. |
| first_indexed | 2024-09-23T13:44:40Z |
| format | Thesis |
| id | mit-1721.1/150285 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T13:44:40Z |
| publishDate | 2023 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1502852023-04-01T03:27:00Z Evaluating a reflexive neuromuscular gait model against real-world results Seelhoff, Carl Andrew Herr, Hugh M. Massachusetts Institute of Technology. Department of Mechanical Engineering The inner workings of human gait are still not well understood. Many models of human gait exist, although no singular model provides insight on human gait behavior and how it alters under disturbances. In an effort to determine if a neuromuscular walking model is capable of predicting human gait under torque disturbances from an ankle-mounted exoskeleton, the results of a prior experiment involving able-bodied subjects with ankle-mounted exoskeletons attached to their feet were recreated in a MATLAB simulation. An optimization-based workflow attempts to reproduce experimental results through selection of optimization objectives based on human gait metrics, producing walking simulations and comparing them with real-world results and establishing a framework which can be applied to future research and analysis. While the optimized simulations do not accurately reproduce human gait as seen in experiments, the gait patterns observed align broadly in some characteristics, and some objective choices produce more convincing results than others. Further testing and more robust statistical analysis is needed to soundly determine whether this model can be predictive of human gait behavior and what minimal set of constraints and optimization objectives is needed to do so. S.B. 2023-03-31T14:45:10Z 2023-03-31T14:45:10Z 2023-02 2023-03-10T19:23:31.676Z Thesis https://hdl.handle.net/1721.1/150285 In Copyright - Educational Use Permitted Copyright MIT http://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Seelhoff, Carl Andrew Evaluating a reflexive neuromuscular gait model against real-world results |
| title | Evaluating a reflexive neuromuscular gait model against real-world results |
| title_full | Evaluating a reflexive neuromuscular gait model against real-world results |
| title_fullStr | Evaluating a reflexive neuromuscular gait model against real-world results |
| title_full_unstemmed | Evaluating a reflexive neuromuscular gait model against real-world results |
| title_short | Evaluating a reflexive neuromuscular gait model against real-world results |
| title_sort | evaluating a reflexive neuromuscular gait model against real world results |
| url | https://hdl.handle.net/1721.1/150285 |
| work_keys_str_mv | AT seelhoffcarlandrew evaluatingareflexiveneuromusculargaitmodelagainstrealworldresults |