A hinge-free, non-restrictive, lightweight tethered exosuit for knee extension assistance during walking.
A hinge-free, non-restrictive, lightweight tethered exosuit for knee extension assistance during walking.
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DOI：
10.1109/tmrb.2020.2989321
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Walsh CJ
中科院分区：
文献类型：
--
作者：
Park EJ;Akbas T;Eckert-Erdheim A;Sloot LH;Nuckols RW;Orzel D;Schumm L;Ellis TD;Awad LN;Walsh CJ
在患有运动障碍的个体中，例如中风后或脑瘫患者，膝伸肌的功能可能在行走过程中受到影响，导致活动能力下降。我们设计了一种轻便、无铰链的可穿戴机器人，将柔软的纺织外装组件与集成的刚性组件相结合，在需要时辅助膝盖伸展，但对穿戴者来说是高度透明的。机器护甲可以使用灵活的多点参考轨迹发生器应用广泛的辅助轮廓。此外，我们实施了控制器安全限值，以解决无铰链设计引起的过度伸展风险。对六名健康参与者在跑步机上以10°坡度上坡和下坡行走的运动服进行了评估，其中具有一组关节动力辅助配置文件。在没有机器护甲和机器护甲无动力条件之间的矢状面关节角度的比较验证了设备的透明度。在正功率辅助下，我们观察到上坡行走期间平均正膝关节生物功率降低（左侧：17.5 ± 3.21%，p = 0.005;右侧：23.2 ± 3.54%，p = 0.008）。这些初步研究结果表明，该设备的辅助能力及其改善步态质量和增加临床人群流动性的潜力是有希望的。
In individuals with motor impairments such as those post-stroke or with cerebral palsy, the function of the knee extensors may be affected during walking, resulting in decreased mobility. We have designed a lightweight, hinge-free wearable robot combining soft textile exosuit components with integrated rigid components, which assists knee extension when needed but is otherwise highly transparent to the wearer. The exosuit can apply a wide range of assistance profiles using a flexible multi-point reference trajectory generator. Additionally, we implemented a controller safety limit to address the risk of hyperextension stemming from the hinge-free design. The exosuit was evaluated on six healthy participants walking uphill and downhill on a treadmill at a 10° slope with a set of joint power-inspired assistance profiles. A comparison of sagittal plane joint angles between no exosuit and exosuit unpowered conditions validated the device transparency. With positive power assistance, we observed reduction in average positive knee biological power during uphill walking (left: 17.5 ± 3.21%, p = 0.005; right: 23.2 ± 3.54%, p = 0.008). These initial findings show promise for the assistive capability of the device and its potential to improve the quality of gait and increase mobility in clinical populations.
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影响因子：
2.4
作者：
Kepple, TM;Siegel, KL;Stanhope, SJ
通讯作者：
Stanhope, SJ
影响因子：
5.1
作者：
Lee S;Kim J;Baker L;Long A;Karavas N;Menard N;Galiana I;Walsh CJ
通讯作者：
Walsh CJ
DOI：
10.1016/s0003-9993(96)90006-4
发表时间：
1996-07-01
影响因子：
4.3
作者：
Abdulhadi, HM;Kerrigan, DC;LaRaia, PJ
通讯作者：
LaRaia, PJ
影响因子：
2.4
作者：
Alexander, Nathalie;Strutzenberger, Gerda;Schwameder, Hermann
通讯作者：
Schwameder, Hermann
影响因子：
2.4
作者：
Hunter, L. C.;Hendrix, E. C.;Dean, J. C.
通讯作者：
Dean, J. C.