Feasibility study of a wearable exoskeleton for children: is the gait altered by adding masses on lower limbs?
Feasibility study of a wearable exoskeleton for children: is the gait altered by adding masses on lower limbs?
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DOI：
10.1371/journal.pone.0073139
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发表时间：
2013
期刊：
影响因子：
3.7
通讯作者：
Krebs HI
中科院分区：
文献类型：
--
作者：
Rossi S;Colazza A;Petrarca M;Castelli E;Cappa P;Krebs HI
我们正在设计一款儿科外骨骼踝关节机器人（儿科 Anklebot），以促进脑瘫 (CP) 儿童的步态康复。很少有研究评估可穿戴外骨骼的单侧负载在多大程度上或是否会产生显着改变步态的不良影响。本研究的目的是评估在膝盖处增加高达 2.5 公斤的质量（上述设备的估计总体增加质量）是否会改变步态运动学。 10 名健康儿童和 8 名有轻度或轻度步态障碍的脑瘫儿童戴着带有多个肿块的护膝行走。在六种条件下使用光电系统分析步态参数和下肢关节运动学：无支撑（自然步态）和将质量放置在膝盖水平（0.5、1.0、1.5、2.0、2.5 kg）。进行 T 检验和重复测量方差分析检验是为了发现试验条件之间以及加载和卸载腿之间的显着差异。在五种“体重增加”的情况下，健康儿童和脑瘫儿童的步态参数没有观察到显着差异。我们发现健康儿童的膝关节屈曲和髋部伸展角度以及脑瘫儿童的膝关节屈曲角度在“自然步态”和“增加质量”条件下存在显着差异。该结果可以解释为护膝引起的机械约束的影响，而不是与负载增加相关的影响。研究表明，支架引起的机械约束对健康儿童和脑瘫儿童的步态有可测量的影响，并且增加的质量高达 2.5 公斤不会改变下肢运动学。这表明重量为 25 N 或更轻的可穿戴设备不会明显改变此处检查人群的步态模式。
We are designing a pediatric exoskeletal ankle robot (pediatric Anklebot) to promote gait habilitation in children with Cerebral Palsy (CP). Few studies have evaluated how much or whether the unilateral loading of a wearable exoskeleton may have the unwanted effect of altering significantly the gait. The purpose of this study was to evaluate whether adding masses up to 2.5 kg, the estimated overall added mass of the mentioned device, at the knee level alters the gait kinematics. Ten healthy children and eight children with CP, with light or mild gait impairment, walked wearing a knee brace with several masses. Gait parameters and lower-limb joint kinematics were analyzed with an optoelectronic system under six conditions: without brace (natural gait) and with masses placed at the knee level (0.5, 1.0, 1.5, 2.0, 2.5 kg). T-tests and repeated measures ANOVA tests were conducted in order to find noteworthy differences among the trial conditions and between loaded and unloaded legs. No statistically significant differences in gait parameters for both healthy children and children with CP were observed in the five “with added mass” conditions. We found significant differences among “natural gait” and “with added masses” conditions in knee flexion and hip extension angles for healthy children and in knee flexion angle for children with CP. This result can be interpreted as an effect of the mechanical constraint induced by the knee brace rather than the effect associated with load increase. The study demonstrates that the mechanical constraint induced by the brace has a measurable effect on the gait of healthy children and children with CP and that the added mass up to 2.5 kg does not alter the lower limb kinematics. This suggests that wearable devices weighing 25 N or less will not noticeably modify the gait patterns of the population examined here.
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