Evaluating adaptiveness of an active back exosuit for dynamic lifting and maximum range of motion.
Evaluating adaptiveness of an active back exosuit for dynamic lifting and maximum range of motion.
复制标题
评估主动式背部外装对于动态提升和最大运动范围的适应性。
DOI：
10.1080/00140139.2023.2240044
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发表时间：
2024
期刊：
影响因子：
2.4
通讯作者：
Walsh,ConorJ
中科院分区：
文献类型：
--
作者：
Quirk,DAdam;Chung,Jinwon;Applegate,Megan;Cherin,JasonM;Dalton,DianeM;Awad,LouN;Walsh,ConorJ
背部防护服提供机械辅助，以减少背部受伤的风险，然而，最大限度地减少限制是采用的关键。我们开发了自适应阻抗控制器，通过根据用户的运动方向和非线性正弦曲线调制阻抗来最大限度地减少限制，同时保持辅助。本研究的目的是比较通过我们的自适应阻抗控制器提供的背部外骨骼主动辅助与被动弹性的三个级别的辅助。15名参与者完成了5个实验模块（4件外伤服和1件不穿外伤服），包括最大屈曲和受限举起任务。虽然较高的弹性刚度使后伸肌活动减少了13%，但将最大活动范围（RoM）限制了13°。自适应阻抗方法不限制RoM，但在举重时将背部伸肌活动降低15%。本研究强调自适应阻抗方法可以通过规避被动方法固有的辅助-限制权衡来提高可用性。从业者总结：本研究展示了一种柔软的主动外服，通过自适应阻抗方法提供帮助，可以减少背部肌肉的整体活动，而不会影响限制的运动范围或限制和不适的感觉。
Back exosuits deliver mechanical assistance to reduce the risk of back injury, however, minimising restriction is critical for adoption. We developed the adaptive impedance controller to minimise restriction while maintaining assistance by modulating impedance based on the user’s movement direction and nonlinear sine curves. The objective of this study was to compare active assistance, delivered by a back exosuit via our adaptive impedance controller, to three levels of assistance from passive elastics. Fifteen participants completed five experimental blocks (4 exosuits and 1 no-suit) consisting of a maximum flexion and a constrained lifting task. While a higher stiffness elastic reduced back extensor muscle activity by 13%, it restricted maximum range of motion (RoM) by 13°. The adaptive impedance approach did not restrict RoM while reducing back extensor muscle activity by 15%, when lifting. This study highlights an adaptive impedance approach might improve usability by circumventing the assistance-restriction trade-off inherent to passive approaches.Practitioner summary:This study demonstrates a soft active exosuit that delivers assistance with an adaptive impedance approach can provide reductions in overall back muscle activity without the impacts of restricted range of motion or perception of restriction and discomfort.