Reducing Squat Physical Effort Using Personalized Assistance From an Ankle Exoskeleton
Reducing Squat Physical Effort Using Personalized Assistance From an Ankle Exoskeleton
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DOI：
10.1109/tnsre.2022.3186692
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发表时间：
2022-06-27
影响因子：
4.9
通讯作者：
Kim, Myunghee
中科院分区：
文献类型：
--
作者：
Kantharaju, Prakyath;Jeong, Hyeongkeun;Kim, Myunghee
外骨骼可以帮助人类蹲下，并有可能减少身体的需求。虽然有几种蹲下辅助方法，但个性化辅助对体力的影响尚未得到研究。我们假设，个性化的援助将减少蹲下的体力。我们开发了一个人在环贝叶斯优化方案，以尽量减少使用单侧踝关节外骨骼蹲下的代谢成本。优化确定了蹲下期间上升和下降的受试者特定辅助参数，平均需要15.8分钟才能收敛。与没有外骨骼的条件相比，受试者特定的优化条件将代谢成本降低了19.9%，股直肌活动降低了28.7%，与一般条件相比，改善的可能性更高。在另一项有两名参与者的研究中，个性化条件比一般条件具有更高的代谢成本降低。这些减少说明了使用外骨骼进行蹲下（一种体力密集型活动）的个性化脚踝辅助的重要性，并且表明可以应用这种方法来最小化蹲下的体力。未来的工作可以调查个性化下蹲辅助对疲劳和潜在受伤风险的影响。
Exoskeletons can assist humans during squatting and the assistance has the potential to reduce the physical demands. Although several squat assistance methods are available, the effect of personalized assistance on physical effort has not been examined. We hypothesize that personalized assistance will reduce the physical effort of squatting. We developed a human-in-the-loop Bayesian optimization scheme to minimize the metabolic cost of squatting using a unilateral ankle exoskeleton. The optimization identified subject-specific assistance parameters for ascending and descending during squatting and took 15.8 min on average to converge. The subject-specific optimized condition reduced metabolic cost by 19.9% and rectus femoris muscle activity by 28.7% compared to the condition without the exoskeleton with a higher probability of improvement compared to a generic condition. In an additional study with two participants, the personalized condition presented higher metabolic cost reduction than the generic condition. These reductions illustrate the importance of personalized ankle assistance using an exoskeleton for squatting, a physically intensive activity, and suggest that such a method can be applied to minimize the physical effort of squatting. Future work can investigate the effect of personalized squat assistance on fatigue and the potential risk of injury.