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Young-Jun Koo(구영준),Mingi Jung(정민기),Seungbum Koo(구승범) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4
Neuromuscular disorders, such as cerebral palsy, stroke, and sarcopenia, induce weak ankle plantar flexors. The ankle plantar flexors play an essential role in push-off during walking, and there must be compensation strategies for its injuries. The purpose of this study was to simulate the pathology gait of weak ankle plantar flexors and to analyze compensation strategies for weak ankle plantar torque. The gait motion of a healthy subject was measured. A musculoskeletal model was built in the RaiSim. A gait controller was obtained through reinforcement learning by mimicking the measured motion. The maximum strengths of ankle plantar flexors were reduced to 75%, 50%, and 25% to make injured models. The intact and injured models were simulated using the same gait controller. When the ankle had maximum plantarflexion torque, hip flexion torques were 45.5 Nm, 55.3 Nm, 52.9 Nm, and 50.5 Nm for intact, 75%, 50%, and 25% models, respectively. Also, durations of push-off were 14%, 14%, 16%, and 20% of the gait cycle. Weak ankle plantar flexors were compensated by hip flexion torque and the prolonged push-off period when the weakness was severe.