Evaluating the Effects of a Negatively-Damped Ankle-Foot Orthosis on Gait
The purpose of this research is to investigate the viability of negative damping as a control scheme for a wearable ankle exoskeleton. Negative damping can be thought of as the opposite of friction – it adds energy to a system instead of removing it. The muscle activity and gait motion of subjects wearing an externally-powered robot while walking on a treadmill were tested to quantify exertion and balance. It is hoped that a device utilizing negative damping control could eventually help stroke victims regain the ability to walk during the rehabilitation process.