EcoWalk - Biorobotic Analysis of the Swing Leg Catapult
DFG 3991/2 - 1 in cooperation with the Dynamic Locomotion Group of the MPI-IS
The project EcoWalk aims at developing a functional description and technical realization of the swing leg catapult in human walking. The swing leg catapult describes an effect in human walking arising shortly before the hind leg leaves the ground to swing forward. An impulsive power output at the ankle joint is observed propelling the leg forward into swing, like a catapult launching to fire its projectile (Lipfert, 2014). We want to develop a functional understanding of the catapult by combining two approaches: evolving a neuromuscular simulation model and building a robotic leg. The functional understanding of the catapult mechanism bears great potential to improve prostheses, legged robots, and gait rehabilitation devices as it is assumed to contribute to the high efficiency and fundamental leg dynamics of human walking.
The project is partitioned into two subprojects: The functional aspects will first be investigated in a computer model (Subproject 1, TUM) and subsequently realized in a biorobotic system (Subproject 2, MPI).
At TUM we investigate the fundamental functionality of the observed catapult mechanism based on kinematic, kinetic and energetic properties using neuromuscular models of human walking (see Geyer 2010 & Geyer 2019).
The MPI subproject aims at realizing the identified mechanisms and control strategies in a biorobotic system of the human leg to verify findings from the computer model and show feasibility of the catapult in technical systems.
Walking Trial with Neuromuscular Model (Geyer 2010)
Referenzen
Geyer, Hartmut; Herr, Hugh (2010): A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. In: IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society 18 (3), S. 263–273. DOI: 10.1109/TNSRE.2010.2047592.
Geyer, Hartmut; Seyfarth, André (2019): Neuromuscular Control Models of Human Locomotion. In: Ambarish Goswami und Prahlad Vadakkepat (Hg.): Humanoid robotics. A reference. Dordrecht: Springer-Verlag (SpringerLink), S. 979–1007.
Lipfert, Susanne W.; Günther, Michael; Renjewski, Daniel; Seyfarth, André (2014): Impulsive ankle push-off powers leg swing in human walking. In: Journal of Experimental Biology 217 (8), S. 1218–1228. DOI: 10.1242/jeb.097345.
