Skip to main content

Table 3 Augmentation factor calculation for six studies

From: Autonomous exoskeleton reduces metabolic cost of human walking during load carriage

Study

Mass

p+

pdis

mfoot

mshank

mthigh

mwaist

i = 1 4 β i m i

AF

Metabolic impact

(kg)

(W)

(W)

(kg)

(kg)

(kg)

(kg)

(W)

(W)

(W)

van Dijk et al. [12]

75

3

0

3*

3*

3*

3*

88

-81

-90

Walsh et al. [9]

76

7

-5

1.41

1.41

5.12

3.66

69

-64

-67

Donelan et al. [10]

78

0

-9

0

1.6

1.6

0

18

-40

-62

Malcolm et al. [22]

66

9

0

0.4**

1.1**

0

0

12

10

12

Sawicki & Ferris [20, 34]

80

16

0

.75

2.0

0

0

22

17

10

Present Study

84

23

0

0.5

1.75

0

1.71

23

33

36

  1. Six studies were found that reported both metabolic results and applied mechanical power [9, 10, 12, 20, 22, 35]. Powers that were not explicitly stated in literature were computed from provided graphs. The included exoskeletal masses are those worn on the foot, shank, thigh and waist (enumerated by i in equation 4). The β coefficient was 14.8 W/kg for mass added to the foot, 5.62 W/kg for the shank, 5.55 W/kg for the thigh, and 3.33 for the waist [17]. *The location of the exoskeleton mass was not described, so the mass was evenly distributed across the leg. **The exact location of the exoskeleton mass was not described, but the device is similar to the device studied by Sawicki & Ferris, so the same mass distribution was used.