A Pediatric Knee Exoskeleton With Real-Time Adaptive Control for Overground Walking in Ambulatory Individuals With Cerebral Palsy.
A Pediatric Knee Exoskeleton With Real-Time Adaptive Control for Overground Walking in Ambulatory Individuals With Cerebral Palsy.
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DOI：
10.3389/frobt.2021.702137
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发表时间：
2021
影响因子：
3.4
通讯作者：
Bulea TC
中科院分区：
文献类型：
--
作者：
Chen J;Hochstein J;Kim C;Tucker L;Hammel LE;Damiano DL;Bulea TC
与当前的方法相比，通过可穿戴设备对脑瘫（CP）儿童进行步态训练有可能增加治疗剂量和强度。在这里，我们报告的设计和表征的小儿膝关节外骨骼（P.雷克斯）与基于微控制器的多层闭环控制系统，以提供个性化的控制能力。外骨骼性能通过台式和人体受试者测试进行评价。阶跃响应测试表明，对于5 Nm，平均90%上升为26 ± 0.2 ms，对于10 Nm，平均90%上升为22 ± 0.2 ms，对于15 Nm，平均90%上升为32 ± 0.4 ms。雷克斯的扭矩带宽为12 Hz，输出阻抗小于1.8 Nm（零模式）。可以部署三种不同的控制策略来对膝盖伸展施加辅助：基于状态的辅助、基于阻抗的轨迹跟踪和实时自适应控制。招募了一名典型发育（TD）的参与者和一名CP的蹲伏步态参与者，以在地上行走试验中评价雷克斯。来自TD参与者的数据用于验证控制系统性能。通过运动捕捉收集运动学和动力学数据，并与外骨骼机载传感器进行比较，以评估控制系统性能，结果表明控制系统按预期运行。来自CP参与者的数据是一项更大的正在进行的研究的一部分。该参与者的结果比较了两种控制模式下的步行与P.雷克斯：基于状态的方法，该方法在早期站立，中期站立和后期摆动（Est+Mst+Lsw模式）期间提供恒定的膝关节伸展辅助，以及自适应模式，该模式在站立期间提供与估计的膝关节力矩成比例的膝关节伸展辅助。与无伸展辅助行走（零模式）相比，两者均耐受良好，并显著改善了膝关节伸展。在使用自适应控制器的过程中，步态速度减少较少，这表明它可能比基于状态的恒定辅助更直观。未来的工作将调查外骨骼辅助在患有神经系统疾病的儿童地上步态训练期间的效果，并旨在确定外骨骼处方的最佳个性化控制策略。
Gait training via a wearable device in children with cerebral palsy (CP) offers the potential to increase therapy dosage and intensity compared to current approaches. Here, we report the design and characterization of a pediatric knee exoskeleton (P.REX) with a microcontroller based multi-layered closed loop control system to provide individualized control capability. Exoskeleton performance was evaluated through benchtop and human subject testing. Step response tests show the averaged 90% rise was 26 ± 0.2 ms for 5 Nm, 22 ± 0.2 ms for 10 Nm, 32 ± 0.4 ms for 15 Nm. Torque bandwidth of P.REX was 12 Hz and output impedance was less than 1.8 Nm with control on (Zero mode). Three different control strategies can be deployed to apply assistance to knee extension: state-based assistance, impedance-based trajectory tracking, and real-time adaptive control. One participant with typical development (TD) and one participant with crouch gait from CP were recruited to evaluate P.REX in overground walking tests. Data from the participant with TD were used to validate control system performance. Kinematic and kinetic data were collected by motion capture and compared to exoskeleton on-board sensors to evaluate control system performance with results demonstrating that the control system functioned as intended. The data from the participant with CP are part of a larger ongoing study. Results for this participant compare walking with P.REX in two control modes: a state-based approach that provided constant knee extension assistance during early stance, mid-stance and late swing (Est+Mst+Lsw mode) and an Adaptive mode providing knee extension assistance proportional to estimated knee moment during stance. Both were well tolerated and significantly improved knee extension compared to walking without extension assistance (Zero mode). There was less reduction in gait speed during use of the adaptive controller, suggesting that it may be more intuitive than state-based constant assistance for this individual. Future work will investigate the effects of exoskeleton assistance during overground gait training in children with neurological disorders and will aim to identify the optimal individualized control strategy for exoskeleton prescription.
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影响因子：
4.3
作者：
Bayon, C.;Ramirez, O.;Rocon, E.
通讯作者：
Rocon, E.
影响因子：
2.5
作者：
Joiner, Wilsaan M.;Smith, Maurice A.
通讯作者：
Smith, Maurice A.
影响因子：
7.8
作者：
Kim, Myunghee;Chen, Tianjian;Collins, Steven H.
通讯作者：
Collins, Steven H.
影响因子：
5.6
作者：
Harkema, SJ
通讯作者：
Harkema, SJ
估计蹲下步态期间膝关节的机械行为：对机器人膝矫形器的实时运动控制的影响。
DOI：
10.1109/tnsre.2016.2550860
发表时间：
2016-06
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：
Lerner ZF;Damiano DL;Bulea TC
通讯作者：
Bulea TC