Evaluation of Lower Limb Exoskeleton for Improving Balance during Squatting Exercise using Center of Pressure Metrics
Evaluation of Lower Limb Exoskeleton for Improving Balance during Squatting Exercise using Center of Pressure Metrics
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DOI：
10.1177/1071181322661447
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发表时间：
2022-09
期刊：
影响因子：
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通讯作者：
Sruthi Ramadurai;Michael Jacobson;Prakyath Kantharaju;Hyeon-Seong Jeong;Hee-seon Jeong;Myunghee Kim
中科院分区：
文献类型：
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作者：
Sruthi Ramadurai;Michael Jacobson;Prakyath Kantharaju;Hyeon-Seong Jeong;Hee-seon Jeong;Myunghee Kim
足部压力中心（COP）可变性是平衡的重要指标，特别是与使用可穿戴下肢外骨骼的康复和训练相关。本研究的目的是评估我们的外骨骼的有效性，在协助蹲下运动使用COP的变化作为一个指标。六名人类受试者交替进行蹲下和站立运动，同时使用鞋垫压力传感器记录他们的足部压力和COP轨迹。在三种条件下进行练习：i）无器械，ii）无动力器械，以及iii）具有最佳刚度的器械。结果表明，COP轨迹的变化在前-后方向的脚在蹲下的最佳刚度条件下往往低于无设备和无动力设备的条件，表明该设备在改善平衡蹲下的潜在有用性。该研究对基于COP的外骨骼人在回路优化和平衡控制具有一定的指导意义。
The foot center of pressure (COP) variability is an important indicator of balance, particularly relevant for rehabilitation and training using wearable lower limb exoskeletons. This study aimed to evaluate the effectiveness of our exoskeleton in assisting squatting motion using the COP variability as a metric. Six human subjects performed alternate squatting and standing movements while their foot pressure and COP trajectories were recorded using insole pressure sensors. The exercises were performed under three conditions: i) no device, ii) unpowered device, and iii) device with optimal stiffness. Results showed that the variability of the COP trajectory in the anterior-posterior direction of the foot during squatting tended to be lower for the optimal stiffness condition than the no device and unpowered device conditions, indicating the potential usefulness of the device in improving balance during squatting. This study has implications for human-inthe-loop optimization and balance control of the exoskeleton based on COP.