Offline assistance optimization of a soft exosuit for augmenting ankle power of stroke survivors during walking.
Offline assistance optimization of a soft exosuit for augmenting ankle power of stroke survivors during walking.
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增强中风幸存者步行过程中踝关节力量的柔软外衣的离线辅助优化。
DOI：
10.1109/lra.2020.2965072
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发表时间：
2020
影响因子：
5.2
通讯作者：
Walsh CJ
中科院分区：
文献类型：
--
作者：
Siviy C;Bae J;Baker L;Porciuncula F;Baker T;Ellis TD;Awad LN;Walsh CJ
中风后80%以上的人患有运动障碍。我们小组之前已经开发了一种单侧踝关节外衣，旨在帮助中风幸存者在行走过程中瘫痪的踝关节。尽管到目前为止的研究已经显示了有希望的生物力学和生理学变化，但仍有机会更好地了解掌屈肌(PF)辅助轮廓的变化如何影响佩戴者的反应。在健康人群中，明确改变增强能力的研究已经提供了关于外衣使用者如何对PF辅助的变化敏感的信息；然而，将现有方法应用于存在显著更高的步态变异性和有限步行能力的医学人群中存在挑战。本文详细介绍了一种离线辅助优化方案，该方案使用预先记录的生物力学数据来生成扭矩分布，该扭矩分布设计为在PF中提供正或负的增强功率，同时对步幅变化不那么敏感。此外，我们描述了一种导纳控制策略，该策略可以在均方根误差小于10N的情况下有效地传递PF力。对6个人中风后的初步研究表明，离线辅助优化可以成功地分离正负增大功率。此外，我们还发现，在卒中后的人群中，正值增大功率影响总正值踝关节功率的变化，而负值增大功率对总负值踝关节功率的变化没有影响。
Locomotor impairments afflict more than 80% of people poststroke. Our group has previously developed a unilateral ankle exosuit aimed at assisting the paretic ankle joint of stroke survivors during walking. While studies to date have shown promising biomechanical and physiological changes, there remains opportunity to better understand how changes in plantarflexion (PF) assistance profiles impact wearer response. In healthy populations, studies explicitly varying augmentation power have been informative about how exosuit users are sensitive to changes in PF assistance; however there are challenges in applying existing methods to a medical population where significantly higher gait variability and limited walking capacity exist. This paper details an offline assistance optimization scheme that uses pre-recorded biomechanics data to generate torque profiles designed to deliver either positive or negative augmentation power in PF while being less sensitive to stride-by-stride variability. Additionally, we describe an admittance-control strategy that can effectively deliver PF force with RMS error less than 10 N. A preliminary study on six people poststroke demonstrates that offline assistance optimization can successfully isolate positive and negative augmentation power. Moreover, we show that in people poststroke, positive augmentation power effected changes in total positive ankle power while delivering negative augmentation power had no effect on total negative ankle power.
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