Individualization of exosuit assistance based on measured muscle dynamics during versatile walking.
Individualization of exosuit assistance based on measured muscle dynamics during versatile walking.
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DOI：
10.1126/scirobotics.abj1362
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发表时间：
2021-11-10
期刊：
影响因子：
25
通讯作者：
中科院分区：
文献类型：
--
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人类行走的可变性取决于个人生理、环境和行走任务。因此，在可穿戴机器人领域，显然需要为用户和任务定制辅助。在这里，我们开发了一种基于肌肉的辅助（MBA）策略，其中机器护甲辅助来自于在特定任务期间对个体肌肉动力学的直接测量。在这篇文章中，我们记录了个人的比目鱼肌动力学超声成像在多种步行速度和倾斜。从这些预先记录的图像中，我们估计了比目鱼肌通过低效的同心收缩产生的力，并设计了与估计的力成比例的机器护甲辅助轮廓。我们评估了这种方法，在每个测量的步行任务的双侧踝关节外装。与不佩戴设备相比，MBA踝关节外装护具在水平1.25、1.5和1.75 m s−1时分别显著降低了平均15.9%、9.7%和8.9%的代谢需求，在5.71°倾斜时在1.25 m s−1时降低了7.8%，同时应用的辅助水平低于现有文献。在另一项研究（n=2）中，我们发现，对于多个行走任务，MBA配置文件优于其他生物启发策略和先前优化研究的平均配置文件。最后，我们展示了在地上户外行走的移动的版本中在线辅助生成的可行性。这种基于肌肉的方法能够相对快速（~10秒）地生成提供代谢益处的个性化低力辅助曲线。这种方法可以通过实现舒适的、定制的和自适应的辅助，来帮助支持可穿戴机器人技术在现实世界中的动态运动任务中的采用。在多个行走任务期间调整到用户的测量的肌肉动力学的踝部机器护甲提高了能量经济性。
Variability in human walking depends upon individual physiology, environment, and walking task. Consequently, in the field of wearable robotics, there is a clear need for customizing assistance to the user and task. Here we developed a muscle-based assistance (MBA) strategy wherein exosuit assistance was derived from direct measurements of individuals’ muscle dynamics during specific tasks. In this article, we recorded individuals’ soleus muscle dynamics using ultrasonographic imaging during multiple walking speeds and inclines. From these pre-recorded images, we estimated the force produced by the soleus through inefficient concentric contraction and designed the exosuit assistance profile to be proportional to that estimated force. We evaluated this approach with a bilateral ankle exosuit at each measured walking task. Compared to not wearing a device, the MBA ankle exosuit significantly reduced metabolic demand by an average of 15.9%, 9.7%, 8.9% at level 1.25, 1.5, and 1.75 m s−1 respectively and 7.8% at 1.25 m s−1 at 5.71° incline while applying lower assistance levels than existing literature. In an additional study (n=2), we showed for multiple walking tasks that the MBA profile outperforms other bioinspired strategies and the average profile from a previous optimization study. Finally, we show the feasibility of online assistance generation in a mobile version for overground outdoor walking. This muscle-based approach enables relatively rapid (~10 seconds) generation of individualized low-force assistance profiles that provide metabolic benefit. This approach may help support the adoption of wearable robotics in real-world, dynamic locomotor tasks by enabling comfortable, tailored, and adaptive assistance. An ankle exosuit tuned to the measured muscle dynamics of the user during multiple walking tasks improves energy economy.
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使用未经动荡的外骨骼降低人行走的能源成本。
影响因子：
64.8
作者：
Collins, Steven H.;Wiggin, M. Bruce;Sawicki, Gregory S.
通讯作者：
Sawicki, Gregory S.
DOI：
10.1098/rspb.1938.0050
发表时间：
1938-10-01
期刊：
PROCEEDINGS OF THE ROYAL SOCIETY SERIES B-BIOLOGICAL SCIENCES
影响因子：
--
作者：
Hill, AV
通讯作者：
Hill, AV
影响因子：
5.5
作者：
Azizi, Emanuel;Roberts, Thomas J.
通讯作者：
Roberts, Thomas J.
影响因子：
2
作者：
Alexander, RM
通讯作者：
Alexander, RM
影响因子：
2.6
作者：
Azizi, Emanuel;Halenda, Gregory M.;Roberts, Thomas J.
通讯作者：
Roberts, Thomas J.