A simple exoskeleton that assists plantarflexion can reduce the metabolic cost of human walking.
A simple exoskeleton that assists plantarflexion can reduce the metabolic cost of human walking.
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DOI：
10.1371/journal.pone.0056137
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发表时间：
2013
期刊：
影响因子：
3.7
通讯作者：
De Clercq D
中科院分区：
文献类型：
--
作者：
Malcolm P;Derave W;Galle S;De Clercq D
即使步行可以持续很长的距离，在相对的腿脚跟接触的瞬间，跖屈需要相当大的能量。不同的小组试图用外骨骼降低代谢成本，但没有一个能够实现超过没有外骨骼的行走水平的降低，这可能是因为在最佳致动时机上没有达成共识。我们研究的主要研究问题是是否有可能通过调整驱动时间来获得更高的代谢成本降低。我们通过呼吸气体分析来测量代谢成本。测试对象行走时使用一个简单的气动外骨骼，该外骨骼通过不同的驱动时间来辅助跖屈。我们发现，如果在对侧腿脚跟接触之前启动，外骨骼可以将代谢成本降低0.18±0.06 W kg−1或6±2%（平均值的标准误差）（p = 0.019），低于无外骨骼行走的成本。 我们发现的最佳时机与步行数学模型的预测一致。虽然本发明的外骨骼不是走动的，但关节动力学的测量揭示，所需的动力可以从行走期间自然发生的膝盖伸展减速工作中回收。这表明，在理论上可以构建未来的移动外骨骼，以降低代谢成本，而不受电源限制。
Even though walking can be sustained for great distances, considerable energy is required for plantarflexion around the instant of opposite leg heel contact. Different groups attempted to reduce metabolic cost with exoskeletons but none could achieve a reduction beyond the level of walking without exoskeleton, possibly because there is no consensus on the optimal actuation timing. The main research question of our study was whether it is possible to obtain a higher reduction in metabolic cost by tuning the actuation timing. We measured metabolic cost by means of respiratory gas analysis. Test subjects walked with a simple pneumatic exoskeleton that assists plantarflexion with different actuation timings. We found that the exoskeleton can reduce metabolic cost by 0.18±0.06 W kg−1 or 6±2% (standard error of the mean) (p = 0.019) below the cost of walking without exoskeleton if actuation starts just before opposite leg heel contact. The optimum timing that we found concurs with the prediction from a mathematical model of walking. While the present exoskeleton was not ambulant, measurements of joint kinetics reveal that the required power could be recycled from knee extension deceleration work that occurs naturally during walking. This demonstrates that it is theoretically possible to build future ambulant exoskeletons that reduce metabolic cost, without power supply restrictions.
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影响因子：
2.4
作者：
Gordon, Keith E.;Sawicki, Gregory S.;Ferris, Daniel P.
通讯作者：
Ferris, Daniel P.
影响因子：
--
作者：
CAVAGNA, GA;HEGLUND, NC;TAYLOR, CR
通讯作者：
TAYLOR, CR
影响因子：
2
作者：
Ruina, A;Bertram, JEA;Srinivasan, M
通讯作者：
Srinivasan, M
DOI：
10.1108/01439910910980141
发表时间：
2009-01-01
期刊：
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
影响因子：
--
作者：
Bogue, Robert
通讯作者：
Bogue, Robert
影响因子：
2.4
作者：
Malcolm, P.;Fiers, P.;De Clercq, D.
通讯作者：
De Clercq, D.