Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System.
Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System.
复制标题
使用移动 TPAD 系统进行地面行走时定时额面骨盆力矩的影响。
DOI：
10.1109/tnsre.2022.3213207
复制
发表时间：
2023
期刊：
影响因子：
--
通讯作者：
中科院分区：
文献类型：
--
作者：
机器人步态训练可以改善对骨盆运动控制不良的个人的地上Ambrosion。然而，需要一种地上步态训练机器人装置，其允许完全控制骨盆运动和对使用者步态施加的力。这项工作评估了地上机器人步态训练器，适用于用户的骨盆，移动的栓系骨盆辅助装置同步的力量。为了说明一种可能的控制方案，我们应用辅助额面骨盆时刻与用户的连续步态实时同步。10名健康的成年人与机器人设备一起行走，有和没有额面力矩。额状面力矩相当于使用者体重的10%，力臂为骨盆宽度的一半。额状面力矩显著增加了额状面骨盆角的范围，从2.6°增加到9.9°，矢状面和横断面分别从4.6°增加到10.1°和3.0°增加到8.3°。额状面力矩也显著增加了左臀中肌的激活，这有助于调节骨盆的灵活性。右臀中肌激活没有显着差异时，额状面的时刻。这项工作突出了移动的栓系骨盆辅助装置施加与用户步态周期同步的连续骨盆力矩的能力。这种能力可能会改变如何设计和应用机器人步态训练策略。针对步态缺陷或肌肉无力的步态训练干预的潜力现在可以通过移动的栓系骨盆辅助装置进行探索。
Robotic gait training may improve overground ambulation for individuals with poor control over pelvic motion. However, there is a need for an overground gait training robotic device that allows full control of pelvic movement and synchronizes applied forces to the user’s gait. This work evaluates an overground robotic gait trainer that applies synchronized forces on the user’s pelvis, the mobile Tethered Pelvic Assist Device. To illustrate one possible control scheme, we apply assistive frontal plane pelvic moments synchronized with the user’s continuous gait in real-time. Ten healthy adults walked with the robotic device, with and without frontal plane moments. The frontal plane moments corresponded to 10% of the user’s body weight with a moment arm of half their pelvic width. The frontal plane moments significantly increased the range of frontal plane pelvic angles from 2.6° to 9.9° and the sagittal and transverse planes from 4.6° to 10.1° and 3.0° to 8.3°, respectively. The frontal plane moments also significantly increased the activation of the left gluteus medius muscle, which assists in regulating pelvic obliquity. The right gluteus medius muscle activation did not significantly differ when frontal plane moments were applied. This work highlights the ability of the mobile Tethered Pelvic Assist Device to apply a continuous pelvic moment that is synchronized with the user’s gait cycle. This capability could change how overgroundrobotic gait training strategiesare designed and applied. The potential for gait training interventions that target gait deficits or muscle weakness can now be explored with the mobile Tethered Pelvic Assist Device.