EcoWalk - biorobotic analysis of the swing leg catapult

• Applicants: Professor Dr. Alexander Badri-Spröwitz; Dr.-Ing. Daniel Renjewski
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: since 2020
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 449427815

A functional explanation of the catapult mechanism which drives the leg into swing in human gait is the goal of this project. We focus on the catch mechanism in the loaded segment chain thigh - lower leg - foot and the related neuromechanical and energetical properties of this mechanical setup.The mechanism will be analyzed and explained functionally based on experimental biomechanical data, in studies of computer models of the musculoskeletal system of the human leg, and in an iterative realization of a robotic model. Special attention will be given to biarticular muscle-tendon-units and their interaction with monoarticular, serial-elastic drive structures in the human leg.The functional comprehension of the basic mechanical structures and their respective contribution bears the excellent potential to enhance technical devices for gait rehabilitation as well as prostheses.This project is comprised of two distinct parts, which will be addressed by both project partners in close collaboration to allow for synergetic cooperation based on the specific qualifications of each partner.We expect the emergence of a need for additional biomechanical studies from the planned investigations, which will be addressed experimentally. The development of protocols for suitable experiments and the execution of pilot studies are also goals of the proposed project.The expected result will be a novel robotic model, validated by a computer simulation that can explain the mechanics of the human walking gait cycle, including kinematics, kinetics, and energetics.

• DFG Programme: Research Grants