Invariant ankle moment patterns when walking with and without a robotic ankle exoskeleton.
Invariant ankle moment patterns when walking with and without a robotic ankle exoskeleton.
复制标题
DOI：
10.1016/j.jbiomech.2009.09.030
复制
发表时间：
2010-01-19
影响因子：
2.4
通讯作者：
Ferris, Daniel P.
中科院分区：
文献类型：
--
作者：
Kao, Pei-Chun;Lewis, Cara L.;Ferris, Daniel P.
为了指导机器人下肢外骨骼的发展，有必要了解人类如何适应动力辅助。本研究的目的是量化健康受试者适应机器人踝关节外骨骼时的关节力矩，并确定运动适应的周期是否取决于机器人辅助的大小。气动驱动的踝关节外骨骼提供由佩戴者的比目鱼肌电图（EMG）控制的足底屈肌扭矩。11名naïve参与者在佩戴脚踝外骨骼的情况下，以1.25米/秒的速度在分离式带式器械跑步机上完成了两次30分钟的训练。经过两次训练，受试者的比目鱼肌电图激活减少了约36%，行走时的总踝关节时刻模式与无辅助步态相似（r2 = 0.98±0.02，THSD, p>0.05）。与没有辅助的步态相比，他们的踝关节运动模式有很大的不同（r2 = 0.79±0.12，THSD, p<0.05）。与之前使用较弱的机器人踝关节外骨骼的研究相比，并非所有的受试者在两个疗程中都达到了稳定的步态模式。我们的研究结果强烈表明，在机器人辅助下行走时，人类的目标是类似的关节力矩模式，而不是类似的运动学模式。此外，在初始使用期间提供更多的机器人辅助会导致比较少的机器人辅助更长的适应过程。
To guide development of robotic lower limb exoskeletons, it is necessary to understand how humans adapt to powered assistance. The purposes of this study were to quantify joint moments while healthy subjects adapted to a robotic ankle exoskeleton and to determine if the period of motor adaptation is dependent on the magnitude of robotic assistance. The pneumatically-powered ankle exoskeleton provided plantar flexor torque controlled by the wearer’s soleus electromyography (EMG). Eleven naïve individuals completed two 30-min sessions walking on a split-belt instrumented treadmill at 1.25 m/s while wearing the ankle exoskeleton. After two sessions of practice, subjects reduced their soleus EMG activation by ~36% and walked with total ankle moment patterns similar to their unassisted gait (r2 = 0.98±0.02, THSD, p>0.05). They had substantially different ankle kinematic patterns compared to their unassisted gait (r2 = 0.79±0.12, THSD, p<0.05). Not all of the subjects reached a steady state gait pattern within the two sessions, in contrast to a previous study using a weaker robotic ankle exoskeleton. Our results strongly suggest that humans aim for similar joint moment patterns when walking with robotic assistance rather than similar kinematic patterns. In addition, greater robotic assistance provided during initial use results in a longer adaptation process than lesser robotic assistance.
登录
查看更多内容
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：
1.4
作者：
Ferris, DP;Czerniecki, JM;Hannaford, B
通讯作者：
Hannaford, B
影响因子：
2.8
作者：
Sawicki, Gregory S.;Ferris, Daniel P.
通讯作者：
Ferris, Daniel P.
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：
Collins, Steven H.;Adamczyk, Peter G.;Ferris, Daniel P.;Kuo, Arthur D.
通讯作者：
Kuo, Arthur D.