A simple model for predicting walking energetics with elastically-suspended backpack

A predictive walking energy model based on gait phase with suspended backpack

Walking with heavy loads is a common task in military affairs and daily life. Considering that the shoulder and leg muscles fatigue will be caused during walking, which will affect the walking endurance and physical health. However, the suspended backpack is found to improve the energy efficiency of walking with a load. In this study, A lightweight suspended backpack is designed and proposing a model for estimating the metabolic cost of a suspended backpack based on gait phase. In this study, four inertial measurement units (IMUs) are fixed on the thigh and shank, six flexible pressure sensors are mounted on the soles of the feet and shoulders, respectively. The gait is defined as four successive phases. For each phase, the muscle tension is solved based on the muscle moment balance theory. Based on the phase segmentation method, the ECCF index is calculated by adding the gait phase constraint and backpack data calculation into the energy prediction model, and the relatively accurate data is obtained. In addition, In order to study the effects of the suspended backpack with different parameters on the cost metabolism, gait phase and biomechanics, the subjects need to carry the same load of 16.5 kg to walk 400 m at the different speeds, respectively. A group of seven healthy subjects in the same walking condition need to conduct two experiments: suspended backpack work (SB) and ordinary backpack (OB). The experimental results show that the suspended backpack can reduce plantar pressure and shoulder pressure in the SB condition. And at the speed of 5.0 km/h, ground reaction force (GRF) and shoulder reaction force (SRF) were reduced by 11.59 % and 13.22 % in the SB condition compared to the OB condition, respectively.

Biomechanical Consequences of Walking With the Suspended Backpacks

OBJECTIVE

This article aimed to investigate the biomechanical mechanisms underlying the energetic advantages of the suspended backpacks during load carriage.

METHODS

In this study, we examined eight adults walking with a 15 kg load at 5 km/h with a designed suspended backpack, in which the load could be switched to locked and suspended with four combinations of stiffness. Mechanical work and metabolic cost were measured during load carriage.

RESULTS

The results showed that the suspended backpacks led to an average reduction of 23.35% in positive work, 24.77% in negative work, and a 12.51% decrease in metabolic cost across all suspended load conditions. Notably, the decreased mechanical work predominantly occurred during single support (averaging 84.19% and 71.16% for positive and negative work, respectively), rather than during double support.

CONCLUSION

Walking with the suspended backpack induced a phase shift between body movement and load movement, altering the human-load interaction. This adjustment caused the body and load to move against each other, resulting in flatter trajectories of the human-load system center of mass (COM) velocities and corresponding profiles in ground reaction forces (GRFs), along with reduced vertical excursions of the trunk. Consequently, this interplay led to flatter trajectories in mechanical work rate and reduced mechanical work, ultimately contributing to the observed reduction in energetic expenditure.

SIGNIFICANCE

Understanding these mechanisms is essential for the development of more effective load-carrying devices and strategies in various applications, particularly for enhancing walking abilities during load carriage.

A review of the design of load-carrying exoskeletons

The increasing necessity of load-carrying activities has led to greater human musculoskeletal damage and an increased metabolic cost. With the rise of exoskeleton technology, researchers have begun exploring different approaches to developing wearable robots to augment human load-carrying ability. However, there is a lack of systematic discussion on biomechanics, mechanical designs, and augmentation performance. To achieve this, extensive studies have been reviewed and 108 references are selected mainly from 2013 to 2022 to address the most recent development. Other earlier 20 studies are selected to present the origin of different design principles. In terms of the way to achieve load-carrying augmentation, the exoskeletons reviewed in this paper are sorted by four categories based on the design principles, namely load-suspended backpacks, lower-limb exoskeletons providing joint torques, exoskeletons transferring load to the ground and exoskeletons transferring load between body segments. Specifically, the driving modes of active and passive, the structure of rigid and flexible, the conflict between assistive performance and the mass penalty of the exoskeleton, and the autonomy are discussed in detail in each section to illustrate the advances, challenges, and future trends of exoskeletons designed to carry loads.

Evaluation of the Load Reduction Performance Via a Suspended Backpack With Adjustable Stiffness

Backpacks are essential for travel but carrying a load during a long journey can easily cause muscle fatigue and joint injuries. Previous studies have suggested that suspended backpacks can effectively reduce the energy cost while carrying loads. Researchers have found that adjusting the stiffness of a suspended backpack can optimize its performance. Therefore, this paper proposes a stiffness-adjustable suspended backpack; the system stiffness can be adjusted to suitable values at different speeds. The stiffness of the suspended backpack with a 5-kg load was designed to be 690 N/m for a speed of 4.5 km/h, and it was adjusted to 870 and 1050 N/m at speeds of 5.5 and 6.5 km/h, respectively. The goal of this study was to determine how carrying a stiffness-adjustable suspended backpack affected performance while carrying a load. Six healthy participants participated in experiments where they wore two backpacks under three conditions: the adjustable-stiffness suspended backpack condition (S_A), the unadjustable-stiffness suspended backpack condition (S_UA), and the ordinary backpack condition (ORB). Our results showed that the peak accelerations, muscle activities, and peak ground reaction forces in the S_A condition were reduced effectively by adjusting the stiffness to adapt to different walking speeds; this adjustment decreased the metabolic cost by 4.21 ± 1.21% and 2.68 ± 0.88% at 5.5 km/h and 4.27 ± 1.35% and 3.38 ± 1.31% at 6.5 km/h compared to the ORB and S_UA, respectively.

A model for predicting ground reaction force and energetics of human locomotion with an elastically suspended backpack

This paper presents an actuated spring-loaded inverted pendulum model with a vertically constrained suspended load mass to predict the vertical GRF and energetics of walking and running. Experiments were performed to validate the model prediction accuracy of vertical GRF. The average correlation coefficient was greater than 0.97 during walking and 0.98 during running. The model's predictions of energy cost reduction were compared with experimental data from the literature, and the difference between the experimental and predicted results was less than 7%. The predicted results of characteristic forces and energy cost under different suspension stiffness and damping conditions showed a tradeoff when selecting the suspension parameters of elastically suspended backpacks.

Allowing the Load to Swing Reduces the Mechanical Energy of the Stance Leg and Improves the Lateral Stability of Human Walking

Loaded walking with typical rigid backpack results in a significant increase in the mechanical energy of the stance leg and a decrease in lateral stability. Allowing the load to swing, which has been applied in shoulder pole, a tool widely used in Asia for load carriage assistance, may attenuate these effects. This paper theoretically analyzes and experimentally validates the biomechanical and energetic effects of the swinging loads. When walking with a 30 kg load, allowing the load to swing reduces the fore-aft leg impulses by over 19% and further reduces the mechanical energy of the stance leg by 12.9% compared to the typical rigid backpack. The whole-body metabolic cost has no significant change, which may be attributed to the increase in the muscle work of the upper body and the leg swing. Moreover, the load movement out of phase to the human in the lateral direction reduces the lateral excursion of extrapolated center-of-mass by 27.2%, indicating an increase in the lateral margin of stability and implying an improvement in lateral stability. The results demonstrate that allowing the load to swing reduces the horizontal leg impulses and the mechanical energy of the stance leg, and improves the lateral stability of human walking.

Why highly compliant poles are not energetically beneficial during running: Evidence from an optimization-based biped model

Springy poles are a unique load-carrying tool and inspire novel designs of other load-carrying systems. Previous experiments have shown that highly compliant poles with a natural frequency lower than step frequency are more economical than rigid poles during load carriage in walking and this was successfully explained in later modeling studies. However, an energetic benefit was not observed during running with highly compliant poles. We speculate that gait type (running versus walking) may be a factor accounting for the different observations. An optimization-based biped model is adopted to predict the energy cost of load carriage with poles during running, with the parameters from previous experimental studies. The predicted load motion and load-body interaction force agree well with experimental measurements. Compared to running with rigid poles, the highly compliant pole results in reduced peak ground reaction force, longer stance phase duration, and higher energy cost. The changes in running energetics are further found to depend on the natural frequency of the load-pole system relative to the step frequency, but with an opposite trend compared to the changes in walking energetics during pole carriage. Highly compliant poles cost more energy than rigid poles during running, while stiffer poles with a higher natural frequency may offer energetic benefits. This study indicates that the fundamental difference in gait type has a profound influence on the energetic performance of load-carrying devices and this should be taken into consideration in future device designs.

A model to predict ground reaction force for elastically-suspended backpacks

BACKGROUND

Leg muscle fatigue is the most important factor that affects walking endurance. Considering the legs act as actuators in alternate contact with the ground during walking, the ground reaction force (GRF) of each leg can indirectly reflect the strength of leg muscles. However, it is not clear how the elastically-suspended backpack (ESB) affects GRF of each leg during human level walking.

RESEARCH QUESTION

How is ESB related in GRF of each leg during walking, and how do multiple variables (stiffness and damping of ESB, load mass, walking speed) affect GRF?

METHODS

An extended bipedal walking model (EBW) with a spring-mass-damping system was proposed to predict the GRF of each leg. In order to evaluate the prediction effect of the model, seven healthy subjects were recruited to attend the experiments using our backpack prototype and the GRFs data was compared. Each subject walked under 12 conditions (load states: locked or unlocked, walking speed: 3.6 km/h, 4.0 km/h, 4.5 km/h, 5.0 km/h, 5.5 km/h, 6.0 km/h).

RESULTS

Results showed that the model could quantitatively predict experimental GRFs over the whole gait cycle (R²≥0.9628) and the characteristic forces (two peak forces and one trough force) were close to the experimental data (average predicted accuracy 93.7 %). The model can reflect relationships between variables and GRF. The relationships showed that an apparent tradeoff exists among the three characteristic forces, and the ESB can produce positive or negative effect under different variables.

SIGNIFICANCE

This work could help us understand the experimental GRF phenomena, especially the contradictory experimental phenomenon caused by the different parameters. It could also help designers optimize structural parameters of ESB for excellent effects on human. The ESBs with excellent performance can be wildly used in military and tourism.

Physiological and biomechanical effects on the human musculoskeletal system while carrying a suspended-load backpack

Many people need to carry heavy loads in a backpack to perform occupational, military, or recreational tasks. Suspended-load backpacks have been shown to reduce dynamic peak forces acting on the body and lower an individual's metabolic cost during walking. However, little is known about the physiological and biomechanical effects of a suspended-load backpack on the human musculoskeletal system. The goal of this study was to determine the impact of different types of backpacks on metabolic cost, joint kinetics, gait kinematics, and muscle activity while individuals carried the same load of 15 kg at a walking speed of 5 km/h and running speed of 7 km/h on an instrumented treadmill. A group of six healthy participants participated in experiments in which two different backpacks were worn under three different conditions: suspended-load backpack working condition (SLB_ON), suspended-load backpack locking condition (SLB_OFF), and ordinary backpack condition (ORB). The results showed that carrying the backpack in the SLB_ON condition can reduce lower limb muscle activities and biological joint work while decreasing the metabolic cost by 15.25 ± 4.21% and 8.81 ± 2.46% during walking and 12.53 ± 2.39% and 6.99 ± 2.37% during running compared to carrying the backpack in the SLB_OFF and the ORB conditions, respectively. However, the SLB_ON condition may cause increased shoulder strain and dynamic stability and balance problems. These results suggest that the control of load movement in a suspended-load backpack should be considered when locomotion performance is optimized in future studies.

Energy Harvesting Backpacks for Human Load Carriage: Modelling and Performance Evaluation

In recent years, there has been an increasing demand for portable power sources as people are required to carry more equipment for occupational, military, or recreational purposes. The energy harvesting backpack that moves relative to the human body, could capture kinetic energy from human walking and convert vertical oscillation into the rotational motion of the generators to generate electricity. In our previous work, a light-weight tube-like energy harvester (TL harvester) and a traditional frequency-tuneable backpack-based energy harvester (FT harvester) were proposed. In this paper, we discuss the power generation performance of the two types of energy harvesters and the energy performance of human loaded walking, while carrying energy harvesting backpacks, based on two different spring-mass-damper models. Testing revealed that the electrical power in the experiments showed similar trends to the simulation results, but the calculated electrical power and the net metabolic power were higher than that of the experiments. Moreover, the total cost of harvesting (TCOH), defined as additional metabolic power in watt required to generate 1 W of electrical power, could be negative, which indicated that there is a chance to generate 6.11 W of electricity without increasing the metabolic cost while carrying energy harvesting backpacks.

How to Carry Loads Economically: Analysis Based on a Predictive Biped Model

Carrying heavy loads costs additional energy during walking and leads to fatigue of the user. Conventionally, the load is fixed on the body. Some recent studies showed energy cost reduction when the relative motion of the load with respect to the body was allowed. However, the influences of the load's relative motion on the user are still not fully understood. We employed an optimization-based biped model, which can generate human-like walking motion to study the load-carrier interaction. The relative motion can be achieved by a passive mechanism (such as springs) or a powered mechanism (such as actuators), and the relative motion can occur in the vertical or fore-aft directions. The connection between the load and body is added to the biped model in four scenarios (two types × two directions). The optimization results indicate that the stiffness values affect energy cost differently and the same stiffness value in different directions may have opposite effects. Powered relative motion in either direction can potentially reduce energy cost but the vertical relative motion can achieve a higher reduction than fore-aft relative motion. Surprisingly, powered relative motion only performs marginally better than the passive conditions at similar peak interaction force levels. This work provides insights into developing more economical load-carrying methods and the model presented may be applied to the design and control of wearable load-carrying devices.

Load carrying with flexible bamboo poles: optimization of a coupled oscillator system

In Asia, flexible bamboo poles are routinely used to carry substantial loads on the shoulder. Various advantages have been attributed to this load-carrying strategy (e.g. reduced energy consumption), but experimental evidence remains inconsistent – possibly because carriers in previous studies were inexperienced. Theoretical models typically neglect the individual's capacity to optimize interactions with the oscillating load, leaving the complete dynamics underexplored. This study used a trajectory optimization model to predict gait adaptations that minimize work-based costs associated with carrying compliant loads and compared the outcomes with naturally selected gait adaptations of experienced pole carriers. Gait parameters and load interactions (e.g. relative amplitude and frequency, phase) were measured in rural farmworkers in Vietnam. Participants carried a range of loads with compliant and rigid poles and the energetic consequences of step frequency adjustments were evaluated using the model. When carrying large loads, the empirical step frequency changes associated with pole type (compliant versus rigid) were largely consistent with model predictions, in terms of direction (increase or decrease) and magnitude (by how much). Work-minimizing strategies explain changes in leg compliance, harmonic frequency oscillations and fluctuations in energetic cost associated with carrying loads on a compliant bamboo pole.

Generating electricity while walking with a medial-lateral oscillating load carriage device

Biomechanical energy harvesters generate electricity, from human movement, to power portable electronics. We developed an energy harvesting module to be used in conjunction with a load carriage device that allows carried mass in a backpack to oscillate in the medial-lateral (M-L) direction. The energy harvesting module was designed to tune M-L oscillations of the carried mass to create favourable device-user interaction. We tested seven energy harvesting conditions and compared them to walking with the device when the weight was rigidly fixed to the backpack frame. For each energy harvesting condition, we changed the external load resistance: altering how much electricity was being generated and how much the carried mass would oscillate. We then correlated device behaviour to the biomechanical response of the user. The energy harvesting load carriage system generated electricity with no significant increase in the metabolic power required to walk, when compared to walking with the carried weight rigidly fixed. The device was able to generate up to 0.22 ± 0.03 W of electricity, while walking with 9 kg of carried weight. The device also reduced the interaction forces experienced by the user, in the M-L direction, compared to walking with the device when the mass was rigidly fixed.

Understanding the mechanics and balance control of the carrying pole through modeling and simulation

The carrying pole has existed as a load carrying tool for thousands of years and is still popular in many parts of Asia. Previous studies attempted to determine whether the elasticity of the carrying pole is energetically beneficial compared with other load carrying methods. However, conflicting results indicate that the effects of the carrying pole stiffness on the carrier are still unclear. The carrying pole exhibits more complex characteristics beyond stiffness, which invites further investigation. As the first step towards the goal, this paper explores the underlying mechanics of the carrying pole, including the structural and dynamic properties, to determine its impact on the carrier. The structure of the carrying pole is modeled and characterized by pole length, pole stiffness, and length of suspension rope. We argue that maintaining the pole’s balance should be a major prerequisite during load carriage and that active feedback control from the carrier is required. Simulations reveal that the structural parameters of the pole have significant influences on the pole’s balance and the interaction between the pole and the carrier. This work suggests mechanical characteristics of the carrying pole can potentially have an extensive impact on gait mechanics and energetics of the carrier.