Mechanics of walking and running up and downhill: A joint-level perspective to guide design of lower-limb exoskeletons

Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechan...

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Published inPloS one Vol. 15; no. 8; p. e0231996
Main Authors Nuckols, Richard W., Takahashi, Kota Z., Farris, Dominic J., Mizrachi, Sarai, Riemer, Raziel, Sawicki, Gregory S.
Format Journal Article
LanguageEnglish
Published United States Public Library of Science 28.08.2020
Public Library of Science (PLoS)
Subjects
Adult
Ankle
Ankle - physiology
Ankle Joint - physiology
Artificial legs
Biology and Life Sciences
Biomechanical Phenomena
Biomechanics
Braking
Clinical trials
Electric power generation
Energy
Energy transfer
Exoskeleton
Exoskeleton Device - trends
Exoskeletons
Female
Fitness equipment
Gait
Gait - physiology
Gait Analysis - methods
Health aspects
Hip
Hip - physiology
Hip Joint - physiology
Humans
Industrial engineering
Joints (anatomy)
Kinematics
Knee
Knee - physiology
Knee Joint - physiology
Laboratories
Locomotion
Lower Extremity - physiology
Male
Mechanical properties
Mechanics
Mechanics (physics)
Medicine and Health Sciences
Metabolism
Muscle, Skeletal - physiology
Physiological aspects
Physiological research
Physiology
Regenerative braking
Robotics
Robotics - instrumentation
Running
Running - physiology
Treadmills
Velocity
Walking
Walking - physiology
Wearable technology
United States
Israel
Georgia
United Kingdom > UK
United States > US
Online AccessGet full text

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Abstract Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s-1) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s-1) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade (p < 0.0001) while the hip's contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).
AbstractList Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s-1) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s-1) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade (p < 0.0001) while the hip's contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).
Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a ‘roadmap’ for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s -1 ) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s -1 ) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle’s contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade ( p < 0.0001) while the hip’s contribution increased from 27% to 52% ( p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47–55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase ( i . e ., regenerative braking).
Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s.sup.-1) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s.sup.-1) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade (p < 0.0001) while the hip's contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).
Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s-1) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s-1) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade (p < 0.0001) while the hip's contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s-1) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s-1) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade (p < 0.0001) while the hip's contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).
Audience Academic
Author Farris, Dominic J.
Mizrachi, Sarai
Nuckols, Richard W.
Takahashi, Kota Z.
Sawicki, Gregory S.
Riemer, Raziel
AuthorAffiliation 3 Department of Sport and Health Sciences, University of Exeter, St Luke's Campus, Exeter, United Kingdom
1 School of Engineering and Applied Sciences, Harvard University and Wyss Institute, Cambridge, Massachusetts, United States of America
5 School of Mechanical Engineering and Biological Sciences, Georgia Institute of Technology, Atlanta, Georgia, United States of America
4 Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
2 Department of Biomechanics, University of Nebraska at Omaha, Omaha, Nebraska, United States of America
University of Massachusetts Lowell, UNITED STATES
AuthorAffiliation_xml – name: 5 School of Mechanical Engineering and Biological Sciences, Georgia Institute of Technology, Atlanta, Georgia, United States of America
– name: 2 Department of Biomechanics, University of Nebraska at Omaha, Omaha, Nebraska, United States of America
– name: 3 Department of Sport and Health Sciences, University of Exeter, St Luke's Campus, Exeter, United Kingdom
– name: 4 Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
– name: 1 School of Engineering and Applied Sciences, Harvard University and Wyss Institute, Cambridge, Massachusetts, United States of America
– name: University of Massachusetts Lowell, UNITED STATES
Author_xml – sequence: 1
  givenname: Richard W.
  orcidid: 0000-0002-6543-2424
  surname: Nuckols
  fullname: Nuckols, Richard W.
– sequence: 2
  givenname: Kota Z.
  surname: Takahashi
  fullname: Takahashi, Kota Z.
– sequence: 3
  givenname: Dominic J.
  surname: Farris
  fullname: Farris, Dominic J.
– sequence: 4
  givenname: Sarai
  surname: Mizrachi
  fullname: Mizrachi, Sarai
– sequence: 5
  givenname: Raziel
  surname: Riemer
  fullname: Riemer, Raziel
– sequence: 6
  givenname: Gregory S.
  surname: Sawicki
  fullname: Sawicki, Gregory S.
BackLink https://www.ncbi.nlm.nih.gov/pubmed/32857774$$D View this record in MEDLINE/PubMed
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ContentType Journal Article
Copyright COPYRIGHT 2020 Public Library of Science
2020 Nuckols et al. This is an open access article distributed under the terms of the Creative Commons Attribution License: http://creativecommons.org/licenses/by/4.0/ (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
2020 Nuckols et al 2020 Nuckols et al
Copyright_xml – notice: COPYRIGHT 2020 Public Library of Science
– notice: 2020 Nuckols et al. This is an open access article distributed under the terms of the Creative Commons Attribution License: http://creativecommons.org/licenses/by/4.0/ (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
– notice: 2020 Nuckols et al 2020 Nuckols et al
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Snippet Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to...
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SubjectTerms Adult
Ankle
Ankle - physiology
Ankle Joint - physiology
Artificial legs
Biology and Life Sciences
Biomechanical Phenomena
Biomechanics
Braking
Clinical trials
Electric power generation
Energy
Energy transfer
Exoskeleton
Exoskeleton Device - trends
Exoskeletons
Female
Fitness equipment
Gait
Gait - physiology
Gait Analysis - methods
Health aspects
Hip
Hip - physiology
Hip Joint - physiology
Humans
Industrial engineering
Joints (anatomy)
Kinematics
Knee
Knee - physiology
Knee Joint - physiology
Laboratories
Locomotion
Lower Extremity - physiology
Male
Mechanical properties
Mechanics
Mechanics (physics)
Medicine and Health Sciences
Metabolism
Muscle, Skeletal - physiology
Physiological aspects
Physiological research
Physiology
Regenerative braking
Robotics
Robotics - instrumentation
Running
Running - physiology
Treadmills
Velocity
Walking
Walking - physiology
Wearable technology
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Title Mechanics of walking and running up and downhill: A joint-level perspective to guide design of lower-limb exoskeletons
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https://doaj.org/article/82b30d9b1c214d2f8c98f35c7584a47c
http://dx.doi.org/10.1371/journal.pone.0231996
Volume 15
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