Hopping with degressive spring stiffness in a full-leg exoskeleton lowers metabolic cost compared with progressive spring stiffness and hopping without assistance

Abstract

When humans hop with a passive-elastic exoskeleton with springs in parallel with both legs, net metabolic power (Pmet) decreases compared with normal hopping (NH). Furthermore, humans retain near-constant total vertical stiffness ( ktot) when hopping with such an exoskeleton. To determine how spring stiffness profile affects Pmet and biomechanics, 10 subjects hopped on both legs normally and with three full-leg exoskeletons that each used a different spring stiffness profile at 2.4, 2.6, 2.8, and 3.0 Hz. Each subject hopped with an exoskeleton that had a degressive spring stiffness (DGexo), where stiffness, the slope of force vs. displacement, is initially high but decreases with greater displacement, linear spring stiffness (LNexo), where stiffness is constant, or progressive spring stiffness (PGexo), where stiffness is initially low but increases with greater displacement. Compared with NH, use of the DGexo, LNexo, and PGexo numerically resulted in 13–24% lower, 4–12% lower, and 0–8% higher Pmet, respectively, at 2.4–3.0 Hz. Hopping with the DGexo reduced Pmet compared with NH at 2.4–2.6 Hz ( P ≤ 0.0457) and reduced Pmet compared with the PGexo at 2.4–2.8 Hz ( P < 0.001). ktot while hopping with each exoskeleton was not different compared with NH, suggesting that humans adjust leg stiffness to maintain overall stiffness regardless of the spring stiffness profile in an exoskeleton. Furthermore, the DGexo provided the greatest elastic energy return, followed by LNexo and PGexo ( P ≤ 0.001). Future full-leg, passive-elastic exoskeleton designs for hopping, and presumably running, should use a DGexo rather than an LNexo or a PGexo to minimize metabolic demand. NEW & NOTEWORTHY When humans hop at 2.4–3.0 Hz normally and with an exoskeleton with different spring stiffness profiles in parallel to the legs, net metabolic power is lowest when hopping with an exoskeleton with degressive spring stiffness. Total vertical stiffness is constant when using an exoskeleton with linear or nonlinear spring stiffness compared with normal hopping. In-parallel spring stiffness influences net metabolic power and biomechanics and should be considered when designing passive-elastic exoskeletons for hopping and running.