Simulation of Stand-to-Sit Biomechanics for Robotic Exoskeletons and Prostheses with Energy Regeneration

Title Simulation of Stand-to-Sit Biomechanics for Robotic Exoskeletons and Prostheses with Energy Regeneration
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Abstract

<p>Previous studies of robotic exoskeletons and prostheses with regenerative actuators have focused on level-ground walking. Here we analyzed the lower-limb joint mechanical power during stand-to-sit movements using inverse dynamics to estimate the biomechanical energy available for electrical regeneration. Nine subjects performed 20 sitting and standing movements while lower-limb kinematics and ground reaction forces were measured. Subject-specific body segment parameters were estimated using parameter identification. Joint mechanical power was calculated from joint torques and rotational velocities and numerically integrated over time to estimate the joint biomechanical energy. The hip absorbed the largest peak negative mechanical power (1.8 &plusmn; 0.5 W/kg), followed by the knee (0.8 &plusmn; 0.3 W/kg) and ankle (0.2 &plusmn; 0.1 W/kg). Negative mechanical work on the hip, knee, and ankle joints per stand-to-sit movement were 0.35 &plusmn; 0.06 J/kg, 0.15 &plusmn; 0.08 J/kg, and 0.02 &plusmn; 0.01 J/kg, respectively. Assuming known regenerative actuator efficiencies (i.e., maximum 635), robotic exoskeletons and prostheses could regenerate ~26 Joules of electrical energy while sitting down, compared to ~19 Joules per walking stride. Given that these regeneration performance calculations are based on healthy young adults, future research should include seniors and/or rehabilitation patients to better estimate the biomechanical energy available for electrical regeneration.</p>

Year of Publication
2021
Journal
IEEE Transactions on Medical Robotics and Bionics
Volume
3
Start Page
455 - 462
Date Published
05/2021
ISSN Number
2576-3202
URL
https://ieeexplore.ieee.org/document/9351558
DOI
DOI: 10.1109/TMRB.2021.3058323
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