OpenSim simulations of male subjects walking while carrying heavy load and wearing hypothetical ideal assistive devices. The simulations examined 7 massless devices that each provided unrestricted torque at one degree of freedom and in one direction: hip abduction, hip flexion, hip extension, knee flexion, knee extension, ankle plantarflexion, and ankle dorsiflexion. The simulations were used to estimate the optimal device torques, and the devices' effect on metabolic cost and muscle activity.
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