Introduction to a Twin Dual-Axis Robotic Platform for Studies of Lower Limb Biomechanics.
Introduction to a Twin Dual-Axis Robotic Platform for Studies of Lower Limb Biomechanics.
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DOI：
10.1109/jtehm.2023.3271446
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发表时间：
2023
影响因子：
3.4
通讯作者：
中科院分区：
文献类型：
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本文提出了一种双双轴机器人平台系统，该系统是专为在各种环境条件下的姿势平衡的表征和量化的双边踝关节力学在2自由度（DOF）在站立和行走。研究方法：进行验证实验以评估系统的性能：1）在不同负载条件下应用准确的位置扰动; 2）模拟一系列刚度定义的机械环境; 3）可靠地量化机械系统的关节阻抗。此外，还进行了几项人体实验，以证明该系统适用于各种下肢生物力学研究。前两个实验量化了顺从性控制表面（被动扰动）和各种频率和幅度的振荡扰动（主动扰动）下的姿势平衡。后两个实验量化了双侧踝关节力学，特别是站立和行走过程中2-DOF的踝关节阻抗。验证实验表明，平台系统应用位置扰动、模拟一系列机械环境和量化接头阻抗的精度很高。人体实验的结果进一步表明，该平台系统足够灵敏，可以检测到在具有挑战性的环境条件下姿势平衡控制的差异以及2-DOF踝关节力学的双侧差异。该机器人平台系统将使我们能够更好地了解功能任务期间的下肢生物力学，同时还为许多机器人系统的设计和控制提供宝贵的知识，包括机器人外骨骼，假肢和机器人辅助平衡训练计划。临床和转化影响声明-我们的机器人平台系统作为一种工具，可以更好地了解健康和神经受损个体的生物力学，并使用这些信息开发辅助机器人和康复训练计划。
This paper presents a twin dual-axis robotic platform system which is designed for the characterization of postural balance under various environmental conditions and quantification of bilateral ankle mechanics in 2 degrees-of-freedom (DOF) during standing and walking. Methods: Validation experiments were conducted to evaluate performance of the system: 1) to apply accurate position perturbations under different loading conditions; 2) to simulate a range of stiffness-defined mechanical environments; and 3) to reliably quantify the joint impedance of mechanical systems. In addition, several human experiments were performed to demonstrate the system’s applicability for various lower limb biomechanics studies. The first two experiments quantified postural balance on a compliance-controlled surface (passive perturbations) and under oscillatory perturbations with various frequencies and amplitudes (active perturbations). The second two experiments quantified bilateral ankle mechanics, specifically, ankle impedance in 2-DOF during standing and walking. The validation experiments showed high accuracy of the platform system to apply position perturbations, simulate a range of mechanical environments, and quantify the joint impedance. Results of the human experiments further demonstrated that the platform system is sensitive enough to detect differences in postural balance control under challenging environmental conditions as well as bilateral differences in 2-DOF ankle mechanics. This robotic platform system will allow us to better understand lower limb biomechanics during functional tasks, while also providing invaluable knowledge for the design and control of many robotic systems including robotic exoskeletons, prostheses and robot-assisted balance training programs. Clinical and Translational Impact Statement— Our robotic platform system serves as a tool to better understand the biomechanics of both healthy and neurologically impaired individuals and to develop assistive robotics and rehabilitation training programs using this information.