Simulating gait assistance of a hip exoskeleton: Feasibility studies for ankle muscle weaknesses

Abstract

This paper presents a simulation framework for pathological gait assistance with a hip exoskeleton. Previously we had developed an event-driven controller for gait assistance [1]. We now simulate (or optimize) the gait assistance in ankle pathologies (e.g., weak dorsiflexion or plantarflexion). It is done by 1) utilizing the neuromuscular walking model, 2) parameterizing assistive torques for swing and stance legs, and 3) performing dynamic optimizations that takes into account the human-robot interactive dynamics. We evaluate the energy expenditures and walking parameters for the different gait types. Results show that each gait type should have a different assistance strategy comparing with the assistance of normal gait. Although we need further studies about the pathologies, our simulation model is feasible to design the gait assistance for the ankle muscle weaknesses.