Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton.
Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton.
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DOI：
10.1186/s12984-021-00954-9
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发表时间：
2021-11-10
影响因子：
5.1
通讯作者：
Lerner ZF
中科院分区：
文献类型：
--
作者：
Orekhov G;Fang Y;Cuddeback CF;Lerner ZF
踝外骨骼可以改善行走力学和能量学，但很少有不受束缚的设备能够在广泛的用户和地形中表现出改进的性能和可用性。我们的目标是设计和验证一种轻质、不受束缚的踝关节外骨骼，该外骨骼对于儿童和有或没有步行障碍的成人的中到高强度行走都有效。在对定制硬件进行台式验证后，我们评估了不同未受损人群（n = 6，体重 = 42–92 kg）佩戴该设备时在步行经济性方面的组级改善情况。我们还在一小群脑瘫患者（CP，n = 5，年龄 = 11–33岁，GMFCS I-III，体重 = 40–71 kg）中在楼梯踏步机上进行了最大用力实验。在两个队列中都对设备可用性指标（设备佩戴和设置时间以及系统可用性评分）进行了评估。与未受损人群相比，外骨骼辅助倾斜行走期间代谢功率降低了 9.9±2.6%（p=0.012，范围=0-18%）。在不增加代谢能力（p = 0.49）或感知运动量（p = 0.50）的情况下，与未使用任何设备的组相比，使用 CP 的队列能够上升 38.4±±23.6%（p = 0.013，范围 = 3-132%）。患有 CP 的用户的平均设备安装和设置时间分别为 3.5±0.7 分钟和 28±6 秒。未受影响的用户的平均穿戴时间为 1.5±0.2 分钟，设置时间为 14±1 秒。系统可用性量表的平均外骨骼得分为 81.8±8.4（“优秀”）。我们的电池供电踝外骨骼对于参与者来说很容易使用，初步证据支持在不同地形上对未受伤的成人、患有脑瘫的儿童和成人的有效性。试验注册 预计于 2019 年 10 月 8 日在 ClinicalTrials.gov (NCT04119063) 上注册。在线版本包含可在 10.1186/s12984-021-00954-9 获取的补充材料。
Ankle exoskeletons can improve walking mechanics and energetics, but few untethered devices have demonstrated improved performance and usability across a wide range of users and terrains. Our goal was to design and validate a lightweight untethered ankle exoskeleton that was effective across moderate-to-high intensity ambulation in children through adults with and without walking impairment. Following benchtop validation of custom hardware, we assessed the group-level improvements in walking economy while wearing the device in a diverse unimpaired cohort (n = 6, body mass = 42–92 kg). We also conducted a maximal exertion experiment on a stair stepping machine in a small cohort of individuals with cerebral palsy (CP, n = 5, age = 11–33 years, GMFCS I-III, body mass = 40–71 kg). Device usability metrics (device don and setup times and System Usability Score) were assessed in both cohorts. There was a 9.9 ± 2.6% (p = 0.012, range = 0–18%) reduction in metabolic power during exoskeleton-assisted inclined walking compared to no device in the unimpaired cohort. The cohort with CP was able to ascend 38.4 ± 23.6% (p = 0.013, range = 3–132%) more floors compared to no device without increasing metabolic power (p = 0.49) or perceived exertion (p = 0.50). Users with CP had mean device don and setup times of 3.5 ± 0.7 min and 28 ± 6 s, respectively. Unimpaired users had a mean don time of 1.5 ± 0.2 min and setup time of 14 ± 1 s. The average exoskeleton score on the System Usability Scale was 81.8 ± 8.4 (“excellent”). Our battery-powered ankle exoskeleton was easy to use for our participants, with initial evidence supporting effectiveness across different terrains for unimpaired adults, and children and adults with CP. Trial registration Prospectively registered at ClinicalTrials.gov (NCT04119063) on October 8, 2019. The online version contains supplementary material available at 10.1186/s12984-021-00954-9.
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