Users Maintain Task Accuracy and Gait Characteristics During Missed Exoskeleton Actuations Through Adaptations In Joint Kinematics
Users Maintain Task Accuracy and Gait Characteristics During Missed Exoskeleton Actuations Through Adaptations In Joint Kinematics
复制标题
用户通过关节运动学的适应在错过外骨骼驱动期间保持任务准确性和步态特征
DOI：
10.1109/embc48229.2022.9871773
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Stirling, Leia
中科院分区：
文献类型：
--
作者：
Wu, Man I;Baum, Brian S.;Edwards, Harvey;Stirling, Leia
在操作环境中，下肢活动外骨骼可能会出现错误，即错过了应该存在的驱动。这些错过的驱动可能会影响用户对系统和适应的人-外骨骼协调策略的信任。在这项研究中，我们引入了伪随机捕获试验，其中不应用辅助外骨骼扭矩，以了解对错失驱动的即时反应，以及用户对外骨骼的内部模型如何适应反复暴露于错失驱动的情况。参与者（N = 15）被要求在穿着双侧动力踝关节外骨骼的情况下完成行走任务。从任务表现（步距精度）、步距特征（步长和步宽）和下肢选定峰值位置的关节运动学推断出人-外骨骼协调和信任。在捕捉试验中，髋关节屈曲被调节以支持完成步进任务，从而支持受影响的人体外骨骼协调，因此步进特征和任务精度不受外骨骼扭矩损失的影响。在捕获试验中踝关节跖屈的减少表明用户适应外骨骼。信任没有受到捕捉试验的影响，因为在任务表现或步态特征上，在早期和晚期的跨步之间没有显著差异。了解人外骨骼协调、任务准确性和步骤特征之间的相互作用将支持非理想操作设置外骨骼控制器的开发。
In operational settings, lower-limb active exoskeletons may experience errors, where an actuation that should be present is missed. These missed actuations may impact users' trust in the system and the adapted human-exoskeleton coordination strategies. In this study, we introduced pseudorandom catch trials, in which an assistive exoskeleton torque was not applied, to understand the immediate responses to missed actuations and how users' internal models to an exoskeleton adapt upon repeated exposure to missed actuations. Participants (N = 15) were instructed to complete a stepping task while wearing a bilateral powered ankle exoskeleton. Human-exoskeleton coordination and trust were inferred from task performance (step accuracy), step characteristics (step length and width), and joint kinematics at selected peak locations of the lower limb. Step characteristics and task accuracy were not impacted by the loss of exoskeleton torque as hip flexion was modulated to support completing the stepping task during catch trials, which supports an impacted human-exoskeleton coordination. Reductions in ankle plantarflexion during catch trials suggest user adaptation to the exoskeleton. Trust was not impacted by catch trials, as there were no significant differences in task performance or gait characteristics between earlier and later strides. Understanding the interactions between human-exoskeleton coordination, task accuracy, and step characteristics will support development of exoskeleton controllers for non-ideal operational settings.
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影响因子：
56.9
作者：
WOLPERT, DM;GHAHRAMANI, Z;JORDAN, MI
通讯作者：
JORDAN, MI
DOI：
--
发表时间：
2017
期刊：
影响因子：
--
作者：
Luke M. Mooney;Jean
通讯作者：
Jean
外骨骼增强步行过程中认知因素与步态策略的关系
DOI：
10.1177/1071181321651138
发表时间：
2021
期刊：
Proceedings of the Human Factors and Ergonomics Society Annual Meeting
影响因子：
--
作者：
Aditi Gupta;R. McKindles;L. Stirling
通讯作者：
L. Stirling
深度学习使 Exoboot 控制能够增强变速行走
影响因子：
5.2
作者：
Shepherd, Max K.;Molinaro, Dean D.;Sawicki, Gregory S.;Young, Aaron J.
通讯作者：
Young, Aaron J.