Comparison of different optimal control formulations for generating dynamically consistent crutch walking simulations using a torque-driven model

Míriam Febrer-Nafría
Míriam Febrer-Nafría
Roger Pallarès-López
Roger Pallarès-López

MECHANISM AND MACHINE THEORY, (2020): 104031

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Abstract:

Walking impairment due to spinal cord injury can be improved using active orthoses, together with some type of external support such as crutches for balance. This study explores how optimal control problem formulation affects the ability to generate dynamically consistent crutch walking simulations with active orthosis assistance that clo...More

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