Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking
Fig 2
Transverse-plane changes in center of mass velocity.
The change in center of mass velocity, calculated at exoskeleton torque end time, projected onto the transverse plane. Velocity changes are normalized to the dimensionless Froude number. Columns represent velocity changes for each exoskeleton torque condition: eversion (light orange), plantarflexion plus eversion (dark orange), plantarflexion (black), plantarflexion plus inversion (dark blue), and inversion (light blue). Thick arrows with filled heads represent changes using the muscle-driven model; thin arrows with open heads represent results using the torque-driven model. Each column includes velocity changes at different exoskeleton torque end times, ranging from 25% (bottom) to 65% (top) of the gait cycle. The horizontal arrow directions are medio-lateral changes in velocity, and the vertical arrow directions are fore-aft changes in velocity. The horizontal axes provide scales for medio-lateral velocity changes, and the fore-aft changes represented by each arrow are scaled to match the horizontal axes. The maximum transverse velocity change observed across both muscle-driven and torque-driven conditions was 0.056 m s-1.