Assisting gait with free moments or joint moments on the swing leg

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Wearable actuators in lower-extremity active orthoses or prostheses have the potential to address a variety of gait disorders. However, whenever conventional joint actuators exert moments on specific limbs, they must simultaneously impose opposing reaction moments on other limbs, which may reduce the desired effects and perturb posture. Momentum exchange actuators exert free moments on individual limbs, potentially overcoming or mitigating these issues. We simulate unperturbed gait to compare conventional joint actuators placed on the knee or hip of the swing leg, and equivalent angular momentum exchange actuators placed on the shank or thigh. Our results indicate that, while conventional joint actuators excel at increasing toe clearance when assisting knee flexion, free moments can yield greater increases in stride length when assisting knee extension or hip flexion.
Original languageEnglish
Title of host publicationProceedings of the IEEE 16th International Conference on Rehabilitation Robotics (ICORR 2019)
Place of PublicationPiscataway, NJ, USA
ISBN (Print)978-1-7281-2755-2
Publication statusPublished - 2019
EventICORR 2019: 16th International Conference on Rehabilitation Robotics - Toronto, Canada
Duration: 24 Jun 201928 Jun 2019


ConferenceICORR 2019: 16th International Conference on Rehabilitation Robotics

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Rehabilitation robotics
  • Fall prevention
  • Leg orthoses and prostheses
  • Free moments
  • Joint moments

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