Reducing Metabolic Cost of Human Walking Gaits with Quasi-Passive Upper Body Exoskeleton

dc.contributor.advisorJafari, Amir
dc.contributor.authorMuthukumaran, Gautham Ganapathi Narayanan
dc.contributor.committeeMemberGao, Wei
dc.contributor.committeeMemberHood, Robert Lyle
dc.date.accessioned2024-02-12T18:30:43Z
dc.date.available2024-02-12T18:30:43Z
dc.date.issued2017
dc.descriptionThis item is available only to currently enrolled UTSA students, faculty or staff. To download, navigate to Log In in the top right-hand corner of this screen, then select Log in with my UTSA ID.
dc.description.abstractHuman walking gait is touted to be the most efficient biped walking gait. With necessity and purpose determining the varied types of gait that we follow during locomotion, one major factor that controls or differentiates human gaits is Arm Swing. Earlier studies proved that there is 7% reduction in the metabolic cost due to the arm swing. However, when army soldiers carry their weapon from one place to another, people who look for rehabilitation of their normal gait after an accident and arm amputees consume more energy during walking. The primary goal of the thesis was to determine which type of gait caused by arm swing requires high metabolic cost and the secondary goal was to look out for ways to reduce the metabolic cost by providing alternate ways for the arm swing if it is required. A group of 6 subjects was asked to walk in four different gaits on a treadmill to record and analyze their oxygen levels. The proposal was to enable subjects to walk with a custom designed upper body exoskeleton. Accordingly, a quasi-passive exoskeleton which suits all human bodies was designed and 3D printed to perform experiments to test the reduction of metabolic cost in folded arm walking gait. The empirical results from the tests validate a 10% reduction in the metabolic cost of walking aided by the use of the exoskeleton designed.
dc.description.departmentMechanical Engineering
dc.format.extent48 pages
dc.format.mimetypeapplication/pdf
dc.identifier.isbn9780355167214
dc.identifier.urihttps://hdl.handle.net/20.500.12588/4834
dc.languageen
dc.subjectExoskeleton
dc.subjectHuman walking gaits
dc.subjectMetabolic cost
dc.subject.classificationMechanical engineering
dc.subject.classificationRobotics
dc.titleReducing Metabolic Cost of Human Walking Gaits with Quasi-Passive Upper Body Exoskeleton
dc.typeThesis
dc.type.dcmiText
dcterms.accessRightspq_closed
thesis.degree.departmentMechanical Engineering
thesis.degree.grantorUniversity of Texas at San Antonio
thesis.degree.levelMasters
thesis.degree.nameMaster of Science

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