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Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work

Philippe Malcolm (UGent) , Samuel Galle (UGent) , Pieter Van den Berghe (UGent) and Dirk De Clercq (UGent)
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Abstract
The finding of the highest negative metabolic rate versus mechanical work ratio in the Bilateral Matched Total Work condition means that if a constrained amount of mechanical work is available (e.g. from a battery) it is more advanta- geous to distribute this work evenly over both legs. The EMG reductions in the unassisted leg also suggest that if the goal is to maximize assistance to one (impaired) leg it might still be advantageous to use a bilateral exoskeleton, perhaps with a different actuation pattern for each leg that is specifically optimized such that each exoskeleton side assists specific phases in the impaired leg.
Keywords
biomechanics, exoskeleton, ankle, unilateral, bionics, biomechatronics, walking

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Citation

Please use this url to cite or link to this publication:

Chicago
Malcolm, Philippe, Samuel Galle, Pieter Van den Berghe, and Dirk De Clercq. 2015. “Analysis of Walking with Unilateral Exoskeleton Assistance Compared to Bilateral Assistance with Matched Work.” In Dynamic Walking, Papers.
APA
Malcolm, P., Galle, S., Van den Berghe, P., & De Clercq, D. (2015). Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work. Dynamic Walking, Papers. Presented at the Dynamic Walking 2015: Principles and concepts of legged locomotion.
Vancouver
1.
Malcolm P, Galle S, Van den Berghe P, De Clercq D. Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work. Dynamic Walking, Papers. 2015.
MLA
Malcolm, Philippe, Samuel Galle, Pieter Van den Berghe, et al. “Analysis of Walking with Unilateral Exoskeleton Assistance Compared to Bilateral Assistance with Matched Work.” Dynamic Walking, Papers. 2015. Print.
@inproceedings{5916356,
  abstract     = {The finding of the highest negative metabolic rate versus 
mechanical work ratio in the Bilateral Matched Total Work 
condition means that if a constrained amount of mechanical 
work is available (e.g. from a battery) it is more advanta-
geous to distribute this work evenly over both legs.  
The EMG reductions in the unassisted leg also suggest that 
if the goal is to maximize assistance to one (impaired) leg 
it might still be advantageous to use a bilateral exoskeleton, 
perhaps with a different actuation pattern for each leg that 
is specifically optimized such that each exoskeleton side 
assists specific phases in the impaired leg.},
  author       = {Malcolm, Philippe and Galle, Samuel and Van den Berghe, Pieter and De Clercq, Dirk},
  booktitle    = {Dynamic Walking, Papers},
  language     = {eng},
  location     = {Columbus, OH, USA},
  pages        = {2},
  title        = {Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work},
  url          = {http://biomechanics.osu.edu/dynamic-walking/AbstractsFolder/Malcolm\_2015\_DW.pdf},
  year         = {2015},
}