Exoskeletons need to react faster than physiological responses to improve standing balance.
Exoskeletons need to react faster than physiological responses to improve standing balance.
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DOI：
10.1126/scirobotics.adf1080
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发表时间：
2023-02-22
期刊：
影响因子：
25
通讯作者：
Sawicki, Gregory S.
中科院分区：
文献类型：
--
作者：
Beck, Owen N.;Shepherd, Max K.;Rastogi, Rish;Martino, Giovanni;Ting, Lena H.;Sawicki, Gregory S.
由于人体的不稳定性，在日常活动中保持平衡是一项挑战。例如，一个人的延迟反应时间限制了他们在受到干扰后恢复平衡的能力。可穿戴外骨骼有可能通过比生理上更快的反应来增强用户在受到干扰后的平衡。然而，“人为快速”的平衡校正外骨骼扭矩可能会干扰用户随后的生理反应，从而阻碍整体反应性平衡反应。在这里，我们表明外骨骼需要比生理反应更快的反应来改善姿势扰动后的站立平衡。在生理反应性关节力矩开始之前提供踝关节外骨骼扭矩可使站立平衡提高9%，而延迟扭矩的开始与生理反应性踝关节力矩一致则没有效果。此外，人工快速的外骨骼扭矩破坏了踝关节力学，从而产生初始的局部感觉反馈，但初始反应性比目鱼肌活动仅比基线减少18%。与局部踝关节或比目鱼肌束力学相比，使用延迟和缩放的全身力学（特别是质心速度）来解释初始反应性比目鱼肌活动的更多差异，支持反应性肌肉活动被命令实现任务级目标的概念，例如保持平衡。总之，为了实现人-外骨骼共生平衡控制，设备扭矩可能需要通过对全局感官反馈的机械估计来获得，例如先于生理反应的CoM运动学。踝关节外骨骼可以通过比使用者更快地对干扰做出反应来改善站立平衡。
Maintaining balance throughout daily activities is challenging due to the unstable nature of the human body. For instance, a person’s delayed reaction times limit their ability to restore balance after disturbances. Wearable exoskeletons have the potential to enhance user balance after a disturbance by reacting faster than physiologically possible. However, ‘artificially fast’ balance-correcting exoskeleton torque may interfere with the user’s ensuing physiological responses, consequently hindering the overall reactive balance response. Here, we show that exoskeletons need to react faster than physiological responses to improve standing balance after postural perturbations. Delivering ankle exoskeleton torque before the onset of physiological reactive joint moments improved standing balance by 9%, whereas delaying torque onset to coincide with that of physiological reactive ankle moments did not. Additionally, artificially fast exoskeleton torque disrupted the ankle mechanics that generate initial local sensory feedback, but the initial reactive soleus muscle activity was only reduced by 18% versus baseline. More variance of the initial reactive soleus muscle activity was accounted for using delayed and scaled whole-body mechanics (specifically center of mass velocity) versus local ankle- or soleus fascicle- mechanics, supporting the notion that reactive muscle activity is commanded to achieve task-level goals, such as maintaining balance. Altogether, to elicit symbiotic human-exoskeleton balance control, device torque may need to be informed by mechanical estimates of global sensory feedback, such as CoM kinematics, that precede physiological responses. Ankle exoskeletons can improve standing balance by reacting to disturbances faster than the user.
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动力脚踝矫形器对扰动的站立平衡的影响。
影响因子：
5.1
作者：
Emmens AR;van Asseldonk EHF;van der Kooij H
通讯作者：
van der Kooij H
DOI：
10.1523/jneurosci.6344-11.2012
发表时间：
2012-08-29
期刊：
The Journal of neuroscience : the official journal of the Society for Neuroscience
影响因子：
--
作者：
Chvatal SA;Ting LH
通讯作者：
Ting LH
影响因子：
6.7
作者：
Horak, Fay B.
通讯作者：
Horak, Fay B.
影响因子：
2.9
作者：
Doxon, Andrew J.;Johnson, David E.;Provancher, William R.
通讯作者：
Provancher, William R.
影响因子：
5.1
作者：
Bayón C;Keemink AQL;van Mierlo M;Rampeltshammer W;van der Kooij H;van Asseldonk EHF
通讯作者：
van Asseldonk EHF