1. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: Design and Simulation of a Pneumatic, Stored-energy, Hybrid Orthosis for Gait Restoration
J Biomech Eng. 2005;127(6): doi: /
Figure Legend:
Realization of ESO. Gas springs at the hip and knee bias joints in flexion. Pneumatic cylinders at the hip and knee convert mechanical to fluid power. Compressed air stored in accumulator tubing that couples hip and knee cylinders.

2. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: Design and Simulation of a Pneumatic, Stored-energy, Hybrid Orthosis for Gait Restoration
J Biomech Eng. 2005;127(6): doi: /
Figure Legend:
Bench model physical prototype. The gas springs are on the back side.

3. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: Design and Simulation of a Pneumatic, Stored-energy, Hybrid Orthosis for Gait Restoration
J Biomech Eng. 2005;127(6): doi: /
Figure Legend:
ADAMS dynamic simulation model. Head-arm-trunk loads were simulated with a controlled, moving “floor” that applied equal and opposite loads to the bottom of the leg linkage.

4. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: Design and Simulation of a Pneumatic, Stored-energy, Hybrid Orthosis for Gait Restoration
J Biomech Eng. 2005;127(6): doi: /
Figure Legend:
Simulation model: hip and knee trajectories for one gait cycle

5. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: Design and Simulation of a Pneumatic, Stored-energy, Hybrid Orthosis for Gait Restoration
J Biomech Eng. 2005;127(6): doi: /
Figure Legend:
Simulation model: force (top) and displacement (bottom) for hip (left) and knee (right) air cylinders for one gait cycle. Gas springs force leg to equilibrium during t=0–0.9s; knee extends during t=5.5–6.6s; pneumatic system forces hip extension during t=10.0–11.25s; leg returns to equilibrium during t=11.25–11.8s.

6. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: Design and Simulation of a Pneumatic, Stored-energy, Hybrid Orthosis for Gait Restoration
J Biomech Eng. 2005;127(6): doi: /
Figure Legend:
Force-displacement properties of hip and knee air cylinders. Measured (markers) and two simulation results (lines). The dashed line accounts for dead volume between the cylinder and the valve.