Invariant hip moment pattern while walking with a robotic hip exoskeleton.
Invariant hip moment pattern while walking with a robotic hip exoskeleton.
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DOI：
10.1016/j.jbiomech.2011.01.030
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发表时间：
2011-03-15
影响因子：
2.4
通讯作者：
Ferris DP
中科院分区：
文献类型：
--
作者：
Lewis CL;Ferris DP
机器人下肢外骨骼在步态辅助和康复方面具有巨大的潜力；然而，我们对人们如何适应使用机器人设备行走的了解有限。这项研究的目的是检验这样一个假设，即当提供机器人帮助时，人们减少了关节上的净肌力矩。肌肉力矩的减少导致总关节力矩(肌肉和外骨骼)与没有机器人辅助时相同，尽管关节角度存在潜在差异。为了验证这一假设，八名健康的受试者在力量测量跑步机上行走时，使用机器人髋部外骨骼进行训练。外骨骼在步态周期中提供了大约33%到53%的髋关节屈曲辅助。我们计算了通电状态和非通电状态下最后15分钟的数据平均值之间的均方根差(RMSD)。在完成了三次30分钟的训练后，髋关节外骨骼提供了步态中髋关节总屈曲峰值的27%。尽管外骨骼有很大的贡献，但受试者走路时的整体髋关节模式(肌肉和外骨骼)与无动力状态下几乎相同，更接近于髋角模式(髋关节时刻rmsd 0.027，角度rmsd 0.134，p<；0.001)。膝关节和踝关节的角度和力矩RMSD无差异。这些发现支持这样一个概念，即尽管在给定的步行速度下，髋关节角度不同，但人们采用的步行模式具有相似的关节力矩模式。
Robotic lower limb exoskeletons hold significant potential for gait assistance and rehabilitation; however, we have a limited understanding of how people adapt to walking with robotic devices. The purpose of this study was to test the hypothesis that people reduce net muscle moments about their joints when robotic assistance is provided. This reduction in muscle moment results in a total joint moment (muscle plus exoskeleton) that is the same as the moment without the robotic assistance despite potential differences in joint angles. To test this hypothesis, eight healthy subjects trained with the robotic hip exoskeleton while walking on a force-measuring treadmill. The exoskeleton provided hip flexion assistance from approximately 33% to 53% of the gait cycle. We calculated the root mean squared difference (RMSD) between the average of data from the last 15 minutes of the powered condition and the unpowered condition. After completing three 30-minute training sessions, the hip exoskeleton provided 27% of the total peak hip flexion moment during gait. Despite this substantial contribution from the exoskeleton, subjects walked with a total hip moment pattern (muscle plus exoskeleton) that was almost identical and more similar to the unpowered condition than the hip angle pattern (hip moment RMSD 0.027, angle RMSD 0.134, p<0.001). The angle and moment RMSD were not different for the knee and ankle joints. These findings support the concept that people adopt walking patterns with similar joint moment patterns despite differences in hip joint angles for a given walking speed.
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影响因子：
2.4
作者：
Gordon, Keith E.;Sawicki, Gregory S.;Ferris, Daniel P.
通讯作者：
Ferris, Daniel P.
影响因子：
4.7
作者：
Santori, N;Villar, RN
通讯作者：
Villar, RN
影响因子：
1.4
作者：
Ferris, DP;Czerniecki, JM;Hannaford, B
通讯作者：
Hannaford, B
DOI：
10.1109/tnsre.2008.2008285
发表时间：
2009-02
期刊：
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Kinnaird CR;Ferris DP
通讯作者：
Ferris DP
影响因子：
2.4
作者：
Kao, Pei-Chun;Ferris, Daniel P.
通讯作者：
Ferris, Daniel P.