Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot
Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot
复制标题
髋部外骨骼机器人的步态夹带扭矩脉冲
DOI：
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发表时间：
2022
影响因子：
4.9
通讯作者：
N. Hogan
中科院分区：
文献类型：
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作者：
Jongwoo Lee;M. Huber;N. Hogan
机器人辅助运动康复已被证明具有挑战性。为了促进进步，重要的是首先要了解神经机械动力学和控制未受损的人类运动。我们先前的研究发现，当脉冲周期接近于偏好步幅持续时间时，人类步态在踝关节处夹带周期性扭矩脉冲。此外，同步步态表现出恒定的相位关系的脉冲，使机器人提供机械援助。为了测试机械步态夹带的一般性，本研究的特点是未受损的人类受试者在地上行走期间对周期性扭矩脉冲的反应。干预是由髋关节外骨骼机器人，三星GEMS-H。步态夹带进行了评估的基础上的时间过程中发生的扭矩脉冲在每个步幅的阶段。连续两天进行实验，以评估第二天是否引起更多的夹带。是否夹带的影响之间的差异脉冲周期和首选的步幅持续时间也进行了评估。结果表明，干预诱发步态夹带，更经常发生的扰动期间更接近受试者的首选步幅持续时间，但连续几天之间的差异不显著。夹带伴随着收敛的脉冲相位在所有条件下，机器人最大限度地提高机械援助的一个类似的值。运动适应的明确证据表明了康复干预的潜力。这项研究量化了未受损人类行走的非线性神经机械动力学的重要方面，这将为机器人辅助运动康复的有效方法的发展提供信息，以最小的方式利用自然动力学。
Robot-aided locomotor rehabilitation has proven challenging. To facilitate progress, it is important to first understand the neuro-mechanical dynamics and control of unimpaired human locomotion. Our previous studies found that human gait entrained to periodic torque pulses at the ankle when the pulse period was close to preferred stride duration. Moreover, synchronized gait exhibited a constant phase relation with the pulses so that the robot provided mechanical assistance. To test the generality of mechanical gait entrainment, this study characterized unimpaired human subjects’ responses to periodic torque pulses during overground walking. The intervention was applied by a hip exoskeleton robot, Samsung GEMS-H. Gait entrainment was assessed based on the time-course of the phase at which torque pulses occurred within each stride. Experiments were conducted for two consecutive days to evaluate whether the second day elicited more entrainment. Whether entrainment was affected by the difference between pulse period and preferred stride duration was also assessed. Results indicated that the intervention evoked gait entrainment that occurred more often when the period of perturbation was closer to subjects’ preferred stride duration, but the difference between consecutive days was insignificant. Entrainment was accompanied by convergence of pulse phase to a similar value across all conditions, where the robot maximized mechanical assistance. Clear evidence of motor adaptation indicated the potential of the intervention for rehabilitation. This study quantified important aspects of the nonlinear neuro-mechanical dynamics underlying unimpaired human walking, which will inform the development of effective approaches to robot-aided locomotor rehabilitation, exploiting natural dynamics in a minimally-encumbering way.