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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic control

Fig. 1

Experimental Setup and Control Schemes. a All eight subjects walked at 1.2 ms-1 with pneumatically powered bilateral ankle exoskeletons. During testing we measured subjects’ joint kinematics and dynamics (motion capture and instrumented treadmill), muscle activity (EMG electrodes), exoskeleton kinetics (load cells), and energy consumption (indirect calorimetry). b Subjects completed separate 10 minute walking trials with two different control schemes. The dynamic gain proportional myoelectric controller (blue) created a actuation signal proportional to subject’s soleus muscle recruitment. The timing-based mechanically intrinsic controller (yellow) sent through the same predefined actuation signal triggered by each heel strike. The two controllers were designed to have the same average actuation signal

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