The Biomechanical Fidelity of Slope Simulation on the Sarcos Treadport Using Whole-Body Force Feedback

: This paper addresses whether whole-body force feedback on treadmill-style locomotion interfaces can simulate the gravity forces experienced when walking on smooth inclines. By applying horizontal force feedback possible with the active mechanical tether of the Sarcos Treadport, it is shown that the biomechanics of walking are similar under conditions of real slope walking versus tether force walking. These biomechanical results complement previous psychophysical studies which yielded the same result, to conclude denitively that whole-body force feedback can realistically substitute for treadmill tilt. 1. Introduction This paper addresses the issue of how well walking on sloped surfaces can be simulated on a locomotion interface using whole-body force feedback instead of actually tilting the walking surface. The Sarcos Treadport uses an active tether mechanism which both senses user position and applies forces to the user (Figure 1). This tether attaches to the user's back ..