Validation of torso force feedback slope simulation through an energy cost comparison

This paper compares the energy cost of locomotion on a real slope and on a simulated slope using a tether force on the Sarcos Treadport. Walking and running both up and down slopes are investigated. Horizontal tether forces were based on f=Kmgsin(θ) to simulate the slope θ. For uphill walking and running, average values of K were determined to be 0.84 and 0.78. For downhill walking and running, average values of K were determined to be 0.72 and 0.66. These values of K reinforce previous findings from psychological and biomechanical studies that found K equal to an average of 0.65.