Validation of Methods for Estimation of Knee Joint Mechanical Impedance During Locomotion Using a Torque-Controllable Knee Exoskeleton
Validation of Methods for Estimation of Knee Joint Mechanical Impedance During Locomotion Using a Torque-Controllable Knee Exoskeleton
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DOI：
10.1115/1.4051843
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发表时间：
2022-04-01
影响因子：
1.7
通讯作者：
Rouse，Elliott J.
中科院分区：
文献类型：
--
作者：
Nazon，Yves F.;Doshi，Raveena M.;Rouse，Elliott J.
腿部关节的机械阻抗控制着身体对外界干扰的反应，它的调节对于完成日常生活任务是必不可少的。然而，在动态任务中，这个量是如何在膝盖上调节的仍不清楚。在这项工作中，我们介绍了一种利用扭矩可控外骨骼来估计弹簧-质量系统的机械阻抗的方法，目的是将这些方法扩展到表征人类膝关节运动时的机械阻抗。我们表征了系统带宽和本征阻抗，并提出了一种基于摄动的方法来识别已知弹簧-质量系统的机械阻抗。我们的方法能够获得准确的刚度和惯性的估计，误差分别在3%和∼13-16%。这项工作为今后的工作中准确估计膝关节运动时的阻抗提供了定性和定量的基础。
The mechanical impedance of the joints of the leg governs the body's response to external disturbances, and its regulation is essential for the completion of tasks of daily life. However, it is still unclear how this quantity is regulated at the knee during dynamic tasks. In this work, we introduce a method to estimate the mechanical impedance of spring-mass systems using a torque-controllable exoskeleton with the intention of extending these methods to characterize the mechanical impedance of the human knee during locomotion. We characterize system bandwidth and intrinsic impedance and present a perturbation-based methodology to identify the mechanical impedance of known spring-mass systems. Our approach was able to obtain accurate estimates of stiffness and inertia, with errors under 3% and ∼13–16%, respectively. This work provides a qualitative and quantitative foundation that will enable accurate estimates of knee joint impedance during locomotion in future works.