A Tunable Assistive Walker-like Exoskeleton: Improvements and Preferred Walking Speeds
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Date
2022-05
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The Ohio State University
Abstract
The human body is a complex system that requires ideal synergy of the different body segments for appropriate motion. Assisted motion and assistive devices have a wide array of applications from physical therapy to ability enhancement for greater physical labor capabilities. In this thesis, we first improved a walker-like exoskeleton device powered by a hub-motor (Zimmerman 2016), by allowing it to be controlled in a graded and consistent manner by the subject. We then performed human subject experiments to collect data on human preferred walking speeds at different assistance levels. We showed that as the assistance level is increased, the human walking speed is also increased, showing that the propulsive work performed by the exoskeleton on the person improves preferred walking speeds. In future work, we will test whether the motion-assisted walker is able to provide assistance to help people that cannot walk comfortably without additional support move more effectively and efficiently. The device may also assist in reducing the caloric requirements for completing walking tasks; a hypothesis we will test more carefully in future work.