Using Predictive Simulation Methods to Design Suitable Assistance Modes for Human Walking on Slopes

The predictive simulation method can simulate the movement of human under different conditions, and it can provide help for people to explore human movement and the design of medical equipment. There are many existing experiments and simulations on assisted walking on flat ground, but few on slopes. Human walking on slopes is harder and more need assistance. We built a virtual environment for human slope-assisted walking on the computer, and explored the suitable assistance mode of human slope walking through simulation. By comparing with experimental data, our simulation is effective. Through simulation, we found that compared with other assistive methods, ankle-knee multi-joint assistance had reduced the metabolism of human walking most obviously. The assistance mode in the same form as the natural joint torque is not the optimal assistance, and when the effect of applied assistive torque is equivalent to the effect of human muscle's working, its metabolism is reduced the most. Our simulation can provide inspiration and theoretical basis for the design of exoskeleton-assisted strategies.