Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance
Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance
复制标题
支持人体平衡的可穿戴陀螺仪执行器的控制器合成和临床探索
作者：
D. Lemus;A. Berry;Saher Jabeen;C. Jayaraman;Kristen Hohl;F. V. D. van der Helm;A. Jayaraman;H. Vallery
陀螺仪执行器对可穿戴应用很有吸引力，因为它们能够在不妨碍腿部的情况下提供地上平衡支撑。已经提出了多种使用这种驱动原理的可穿戴机器人，但尚未对人类进行评估。在这里，我们使用 GyBAR（一种类似背包的原型便携式机器人）来研究这样的假设：通过施加到上半身的力矩可以增强健康和慢性中风受试者的平衡。我们根据每个参与者在狭窄的支撑面上行走或保持站立的能力来量化平衡表现，该支撑面旨在挑战额状面或矢状面的稳定性。通过比较候选平衡控制器，发现有效的辅助不需要调节到参考姿势。与 GyBAR 佩戴但不活动时相比，旋转粘性场将健康参与者沿着 30 毫米宽的横梁行走的距离增加了 2.0 倍。同样的控制器使慢性中风患者在狭窄的街区上保持站立的时间延长了 2.5 倍。由于其耐磨性和控制的多功能性，GyBAR 可以为训练和康复提供新的治疗干预措施。
Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Here we use the GyBAR, a backpack-like prototype portable robot, to investigate the hypothesis that the balance of both healthy and chronic stroke subjects can be augmented through moments applied to the upper body. We quantified balance performance in terms of each participant’s ability to walk or remain standing on a narrow support surface oriented to challenge stability in either the frontal or the sagittal plane. By comparing candidate balance controllers, it was found that effective assistance did not require regulation to a reference posture. A rotational viscous field increased the distance healthy participants could walk along a 30mm-wide beam by a factor of 2.0, compared to when the GyBAR was worn but inactive. The same controller enabled individuals with chronic stroke to remain standing for a factor of 2.5 longer on a narrow block. Due to its wearability and versatility of control, the GyBAR could enable new therapy interventions for training and rehabilitation.
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影响因子：
2.5
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通讯作者：
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通讯作者：
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