On the biological mechanics and energetics of the hip joint muscle-tendon system assisted by passive hip exoskeleton

Passive exoskeletons have potential advantages in reducing metabolic energy cost. We consider a passive elastic exoskeleton (peEXO) providing hip flexion moment to assist hip flexors during walking, our goal is to use a biomechanical model to explore the biological mechanics and energetics of the hip joint muscle-tendon-exotendon system for obtaining the optimum stiffness of this peEXO at the muscle-level. Based on our developed hip musculoskeletal model capable of replicating human-like behaviors, the hip peEXO is firstly abstracted as a spring (i.e. exotendon), we then simulate the peEXO assisted human walking over a series of stiffnesses, the biological muscle-tendon dynamics is optimally solved by minimizing the total metabolic cost of muscles. The simulation results are consistent with the experimental data of walking with an exoskeleton prototype. We find peEXO of minor stiffness helps reducing the muscle force, activation, and metabolic energy cost of hip flexors, especially the iliopsoas; while stiffer peEXO causes extra metabolic energy cost of antagonist muscles especially the gluteus maximus. With an optimum rotational stiffness of 350 Nm rad(-1), the peEXO can reduce the metabolic energy cost of walking by similar to 7.1% and the hip joint muscles simultaneously have a 3% muscle efficiency promotion. The changes in muscle-tendon dynamics indicate it is more economical to assist the hip joint compared with the ankle joint, and periods of high muscle activation are ideal assistance phases for hip joint muscles. The modeling framework provides deep insights into the potential muscle-level mechanisms which are difficult to study via experiments alone, which is helpful to recover the mechanism of how energy cost is reduced under the external passive assistance and guide the design of passive hip EXOs.