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Generating stable walking gaits that yield natural locomotion when executedon robotic-assistive devices is a challenging task that often requireshand-tuning by domain experts. This paper presents an alternative methodology,where we propose the addition of musculoskeletal models directly into the gaitgeneration process to intuitively shape the resulting behavior. In particular,we construct a multi-domain hybrid system model that combines the systemdynamics with muscle models to represent natural multicontact walking. Provablystable walking gaits can then be generated for this model via the hybrid zerodynamics (HZD) method. We experimentally apply our integrated framework towardsachieving multicontact locomotion on a dual-actuated transfemoral prosthesis,AMPRO3, for two subjects. The results demonstrate that enforcing muscle modelconstraints produces gaits that yield natural locomotion (as analyzed viacomparison to motion capture data and electromyography). Moreover, gaitsgenerated with our framework were strongly preferred by the non-disabledprosthetic users as compared to gaits generated with the nominal HZD method,even with the use of systematic tuning methods. We conclude that the novelapproach of combining robotic walking methods (specifically HZD) with musclemodels successfully generates anthropomorphic robotic-assisted locomotion.

Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics