Optimization of Actuator Stiffness and Actuation Timing of a Passive Ankle Exoskeleton: A Case Study Using a Musculoskeletal Modeling Approach.

ABSTRACT:

Objective

A modeling and simulation tool, OpenSim, was used to determine the optimal relationship between actuator stiffness and actuation timing of a passive ankle exoskeleton for reducing metabolic costs during walking. We hypothesized that the absolute minimum in total metabolic cost would exist at an actuation timing of 15% of stance and at a spring stiffness of 7.5 kN/m. We also hypothesized that a local minimum in total metabolic cost would exist at an actuation timing of 50% of stance.

Methods

Bilateral kinematics and kinetics data were collected on a healthy male walking overground wearing his regular tennis shoe. The passive ankle exoskeleton geometry and the spring actuator were integrated into the OpenSim model. Simulations were performed for every combination of

SUBMITTER: Williams J 

PROVIDER: S-EPMC12839179 | biostudies-literature | 2025 Dec

REPOSITORIES: biostudies-literature