Toward goal-oriented robotic gait training: The effect of gait speed and stride length on lower extremity joint torques.
Toward goal-oriented robotic gait training: The effect of gait speed and stride length on lower extremity joint torques.
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DOI：
10.1109/icorr.2017.8009258
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发表时间：
2017-07
期刊：
影响因子：
--
通讯作者：
Sergi F
中科院分区：
文献类型：
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作者：
McGrath RL;Pires-Fernandes M;Knarr B;Higginson JS;Sergi F
机器人辅助步态训练正变得越来越普遍，以支持神经损伤后步行功能的恢复。由于对人类对机器人输入的反应的有限理解，如何制定能够促进步态中期望的特征即目标的控制器是复杂的。制定面向目标的步态训练控制器的一种可能方法是基于对健康受试者应用的关节扭矩的分析，以调节这些目标。这项工作的目的是了解两个重要的步态参数：步态速度(GS)和步长(SL)对矢状面关节扭矩的影响。我们在这里介绍了健康受试者以不同的速度在跑步机上行走的结果，并要求他们通过视觉反馈来调节步长。通过主成分分析，提取了这两个因素对关节扭矩峰峰值幅值的整体影响。接下来，我们使用扭矩脉冲近似分析来确定扭矩脉冲的最佳时机和幅度，以接近在不同GS值下测量的关节扭矩分布中SL特定的差异。结果表明，在所有考虑的关节中，GS对扭矩分布有很强的影响。相比之下，SL主要影响膝关节在站立早期和晚期产生的扭矩，对髋关节和脚踝关节的影响较小。我们的分析生成了一组扭矩辅助配置文件，将使用步态训练机器人进行实验测试。
Robot-assisted gait training is becoming increasingly common to support recovery of walking function after neurological injury. How to formulate controllers capable of promoting desired features in gait, i.e. goals, is complicated by the limited understanding of the human response to robotic input. A possible method to formulate controllers for goal-oriented gait training is based on the analysis of the joint torques applied by healthy subjects to modulate such goals. The objective of this work is to understand how sagittal plane joint torque is affected by two important gait parameters: gait speed (GS) and stride length (SL). We here present the results obtained from healthy subjects walking on a treadmill at different speeds, and asked to modulate stride length via visual feedback. Via principal component analysis, we extracted the global effects of the two factors on the peak-to-peak amplitude of joint torques. Next, we used a torque pulse approximation analysis to determine optimal timing and amplitude of torque pulses that approximate the SL-specific difference in joint torque profiles measured at different values of GS. Our results show a strong effect of GS on the torque profiles in all joints considered. In contrast, SL mostly affects the torque produced at the knee joint at early and late stance, with smaller effects on the hip and ankle joints. Our analysis generated a set of torque assistance profiles that will be experimentally tested using gait training robots.