Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking
Fig 4
Changes in right foot center of pressure position.
The change in right foot center of pressure position, calculated at exoskeleton peak time, in the sagittal plane. The arrows represent the position changes normalized by foot width and averaged across subjects. Rows represent position 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 row includes position changes at different exoskeleton timings, ranging from 20% (bottom) to 60% (top) of the gait cycle. The horizontal arrow directions are medio-lateral changes in position, and the vertical arrow directions are fore-aft changes in position. The horizontal axes provide scales for medio-lateral position changes, and the fore-aft changes represented by each arrow are scaled to match the horizontal axes. The maximum center of pressure position change observed across both muscle-driven and torque-driven conditions was 0.024 m.