Human walking model predicts joint mechanics, electromyography, and mechanical economy


We are studying the mechanical behavior of leg muscles and tendons during human walking in order to motivate the design of power-efficient robotic legs. The Endo-Herr walking model uses only three actuators (leg muscles) to power locomotion. It uses springs and clutches in place of other essential tendons and muscles to store energy and transfer energy from one joint to another during walking. Since mechanical clutches require much less energy than electric motors, this model can be used to design highly efficient robotic legs and exoskeletons. Current work includes analysis of the model at variable walking speeds and informing design specifications for a collaborative "SuperFlex" exosuit project.