Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loads

Table 1 Minimum, average, and maximum optimized parameters over all load conditions

Hips	HE RT	HE PT	HE T	Mid. T	Mid. D	HF PT	HF T	HF FT
Min.	0.18	0.25	0.21	0.47	0.00	0.80	0.09	0.20
Avg.	0.19	0.26	0.37	0.48	0.01	0.82	0.20	0.23
Max.	0.21	0.29	0.54	0.49	0.05	0.85	0.31	0.26

Knees	k On	k	k Off	KF RT	KF PT	KF T	KF FT	b On	b	b Off
Min.	0.02	0.00	0.23	0.15	0.59	0.03	0.08	0.75	0.74	0.96
Avg.	0.03	0.01	0.28	0.17	0.60	0.10	0.10	0.78	1.42	0.98
Max.	0.04	0.03	0.30	0.20	0.61	0.20	0.11	0.81	2.19	1.00

Ankles	A T	A PT	A RT	A FT
Min.	0.71	0.55	0.20	0.17
Avg.	0.85	0.55	0.29	0.18
Max.	0.90	0.55	0.38	0.19

The timing parameters were consistent across load conditions and participants while the torque magnitudes varied. The timing parameters are reported in stride time percentage, the magnitude parameters are in Nm/kg, the stiffness parameters are reported in Nm/kg/deg., and the damping parameters are reported in Nm/kg/deg./s

ISSN: 1743-0003