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Fig. 2 | Journal of NeuroEngineering and Rehabilitation

Fig. 2

From: Simulation of human gait with body weight support: benchmarking models and unloading strategies

Fig. 2

Three BWS strategies: (1) Constant-Force (2) Counterweight system (3) Tuned-Spring system. Pulley systems I and II are designed such that the counterweight (of mass u·m) only moves vertically. Also the free end of the spring only moves vertically. The centre of the pulley system I is assumed to move horizontally such that force the Fu is directed vertically upwards from point A. All pulleys are massless and the system does not dissipate net energy. The coordinate yc is the vertical position of the centre of mass of the body, u is the amount of body weight unloaded as a proportion of the actual body weight mg, ks is the stiffness of the spring, and Δl0 is its initial elongation. BWS strategies considered in the paper - filename: figure2.eps

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