Simulation-based biomechanical assessment of unpowered exoskeletons for running

Abstract Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation f...

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Autores principales:	Hamidreza Aftabi, Rezvan Nasiri, Majid Nili Ahmadabadi
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/ffe0fa959fa441d4a78b646fdfb54dc1
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spelling	oai:doaj.org-article:ffe0fa959fa441d4a78b646fdfb54dc12021-12-02T18:24:53ZSimulation-based biomechanical assessment of unpowered exoskeletons for running10.1038/s41598-021-89640-32045-2322https://doaj.org/article/ffe0fa959fa441d4a78b646fdfb54dc12021-06-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-89640-3https://doaj.org/toc/2045-2322Abstract Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation for human running gait. To do so, the considered case study is the assistive torque profile of I-RUN. Our approach is using some extensive data-driven OpenSim simulation results employing a generic lower limb model with 92-muscles and 29-DOF. In the simulation, it is observed that exoskeleton augmentation leads to $$4.62\%$$ 4.62 % metabolic rate reduction for the stiffness coefficient of $$\alpha ^=0.6$$ α ∗ = 0.6 . Moreover, this optimum stiffness coefficient minimizes the biological hip moment by $$26\%$$ 26 % . The optimum stiffness coefficient ( $$\alpha ^=0.6$$ α ∗ = 0.6 ) also reduces the average force of four major hip muscles, i.e., Psoas, Gluteus Maximus, Rectus Femoris, and Semimembranosus. The effect of assistive torque profile on the muscles’ fatigue is also studied. Interestingly, it is observed that at $$\alpha ^{\#}=0.8$$ α # = 0.8 , both all 92 lower limb muscles’ fatigue and two hip major mono-articular muscles’ fatigue have the maximum reduction. This result re-confirm our hypothesis that ”reducing the forces of two antagonistic mono-articular muscles is sufficient for involved muscles’ total fatigue reduction.” Finally, the relation between the amount of metabolic rate reduction and kinematics of hip joint is examined carefully where for the first time, we present a reliable kinematic index for prediction of the metabolic rate reduction by I-RUN augmentation. This index not only explains individual differences in metabolic rate reduction but also provides a quantitative measure for training the subjects to maximize their benefits from I-RUN.Hamidreza AftabiRezvan NasiriMajid Nili AhmadabadiNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-12 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Hamidreza Aftabi Rezvan Nasiri Majid Nili Ahmadabadi Simulation-based biomechanical assessment of unpowered exoskeletons for running
description	Abstract Due to the complexity and high degrees of freedom, the detailed assessment of human biomechanics is necessary for the design and optimization of an effective exoskeleton. In this paper, we present full kinematics, dynamics, and biomechanics assessment of unpowered exoskeleton augmentation for human running gait. To do so, the considered case study is the assistive torque profile of I-RUN. Our approach is using some extensive data-driven OpenSim simulation results employing a generic lower limb model with 92-muscles and 29-DOF. In the simulation, it is observed that exoskeleton augmentation leads to $$4.62\%$$ 4.62 % metabolic rate reduction for the stiffness coefficient of $$\alpha ^=0.6$$ α ∗ = 0.6 . Moreover, this optimum stiffness coefficient minimizes the biological hip moment by $$26\%$$ 26 % . The optimum stiffness coefficient ( $$\alpha ^=0.6$$ α ∗ = 0.6 ) also reduces the average force of four major hip muscles, i.e., Psoas, Gluteus Maximus, Rectus Femoris, and Semimembranosus. The effect of assistive torque profile on the muscles’ fatigue is also studied. Interestingly, it is observed that at $$\alpha ^{\#}=0.8$$ α # = 0.8 , both all 92 lower limb muscles’ fatigue and two hip major mono-articular muscles’ fatigue have the maximum reduction. This result re-confirm our hypothesis that ”reducing the forces of two antagonistic mono-articular muscles is sufficient for involved muscles’ total fatigue reduction.” Finally, the relation between the amount of metabolic rate reduction and kinematics of hip joint is examined carefully where for the first time, we present a reliable kinematic index for prediction of the metabolic rate reduction by I-RUN augmentation. This index not only explains individual differences in metabolic rate reduction but also provides a quantitative measure for training the subjects to maximize their benefits from I-RUN.
format	article
author	Hamidreza Aftabi Rezvan Nasiri Majid Nili Ahmadabadi
author_facet	Hamidreza Aftabi Rezvan Nasiri Majid Nili Ahmadabadi
author_sort	Hamidreza Aftabi
title	Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_short	Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_full	Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_fullStr	Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_full_unstemmed	Simulation-based biomechanical assessment of unpowered exoskeletons for running
title_sort	simulation-based biomechanical assessment of unpowered exoskeletons for running
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/ffe0fa959fa441d4a78b646fdfb54dc1
work_keys_str_mv	AT hamidrezaaftabi simulationbasedbiomechanicalassessmentofunpoweredexoskeletonsforrunning AT rezvannasiri simulationbasedbiomechanicalassessmentofunpoweredexoskeletonsforrunning AT majidniliahmadabadi simulationbasedbiomechanicalassessmentofunpoweredexoskeletonsforrunning
_version_	1718378135562485760

Simulation-based biomechanical assessment of unpowered exoskeletons for running

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