Gait Adaptation to Asymmetric Hip Stiffness Applied by a Robotic Exoskeleton.
Gait Adaptation to Asymmetric Hip Stiffness Applied by a Robotic Exoskeleton.
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机器人外骨骼对不对称髋部僵硬的步态适应。
DOI：
10.1109/tnsre.2024.3354517
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发表时间：
2024
期刊：
影响因子：
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通讯作者：
Huber,MeghanE
中科院分区：
文献类型：
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作者：
Abdikadirova,Banu;Price,Mark;Jaramillo,JonazMoreno;Hoogkamer,Wouter;Huber,MeghanE
可穿戴外骨骼显示出改善步态障碍的显著潜力，例如肢体间不对称。然而，需要更深入地了解外骨骼是否能够引发神经适应。本研究旨在描述个体如何适应髋关节外骨骼施加的双侧不对称关节刚度，类似于分裂带跑步机训练。13名未受损的人在跑步机上进行步行试验，同时穿着外骨骼。外骨骼的右侧充当正刚度扭转弹簧，将大腿拉向中立站立位置，而左侧充当负刚度弹簧，将大腿拉离中立站立位置。结果表明，髋关节外骨骼应用的这种干预引起了时空和动态步态措施的适应，类似于分裂带跑步机训练。这些结果证明了所提出的干预措施对再训练对称步态的潜力。
Wearable exoskeletons show significant potential for improving gait impairments, such as interlimb asymmetry. However, a more profound understanding of whether exoskeletons are capable of eliciting neural adaptation is needed. This study aimed to characterize how individuals adapt to bilateral asymmetric joint stiffness applied by a hip exoskeleton, similar to split-belt treadmill training. Thirteen unimpaired individuals performed a walking trial on the treadmill while wearing the exoskeleton. The right side of the exoskeleton acted as a positive stiffness torsional spring, pulling the thigh towards the neutral standing position, while the left acted as a negative stiffness spring pulling the thigh away from the neutral standing position. The results showed that this intervention applied by a hip exoskeleton elicited adaptation in spatiotemporal and kinetic gait measures similar to split-belt treadmill training. These results demonstrate the potential of the proposed intervention for retraining symmetric gait.