Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits

@article{Hector2019AnkleTD,
  title={Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits},
  author={Michael J. Hector and Kevin R. Green and Burak Sencer and Jonathan W. Hurst},
  journal={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2019},
  pages={5491-5497}
}
In this paper, we investigate whether applying ankle torques during mid-stance can be a more effective way to reduce energetic cost of locomotion than actuating leg length alone. Ankles are useful in human gaits for many reasons including static balancing. In this work, we specifically avoid the heel-strike and toe-off benefits to investigate whether the progression of the center of pressure from heel-to-toe during mid-stance, or some other approach, is beneficial in and of itself. We use an… 
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