Walking faster and farther with a soft robotic exosuit: Implications for post-stroke gait assistance and rehabilitation.
Walking faster and farther with a soft robotic exosuit: Implications for post-stroke gait assistance and rehabilitation.
复制标题
使用软机器人外装行走更快更远：对中风后步态辅助和康复的影响。
DOI：
10.1109/ojemb.2020.2984429
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发表时间：
2020
影响因子：
5.8
通讯作者：
Walsh CJ
中科院分区：
文献类型：
--
作者：
Awad LN;Kudzia P;Revi DA;Ellis TD;Walsh CJ
目的：软式机器人外骨骼服可以改善脑卒中后步行的力学和能量学。在此之前的工作的基础上，我们评估了便携式软机器人外装服的第一个原型的效果。研究方法：对中风后个体的地上行走速度、距离和能量消耗的Exosuit诱导的变化进行统计学评估，并与最小临床重要差异评分进行比较。结果如下：与不穿机器护甲的情况下行走相比，5 kg机器护甲在无动力时不会显著改变速度、距离或能量消耗。相比之下，当通电以在站立阶段提供平均22.87 0.58%体重的麻痹性跖屈肌力辅助并在摆动阶段辅助麻痹性背屈肌以减少足下垂时，研究参与者在10米步行测试中行走速度加快了中位数0.14 0.06 m/s，在6分钟步行测试中行走了32 8 m（）。结论：中风后的个人可以利用由软机器人外装护具提供的麻痹性跖屈肌和背屈肌辅助来实现速度和距离的临床意义上的增加。
Objective: Soft robotic exosuits can improve the mechanics and energetics of walking after stroke. Building on this prior work, we evaluated the effects of the first prototype of a portable soft robotic exosuit. Methods: Exosuit-induced changes in the overground walking speed, distance, and energy expenditure of individuals post-stroke were evaluated statistically and compared to minimal clinically important difference scores. Results: Compared to walking without the exosuit worn, the 5 kg exosuit did not substantially modify speed, distance, or energy expenditure when worn unpowered. In contrast, when powered on to provide an average 22.87 0.58 %bodyweight of paretic plantarflexor force assistance during stance phase and assist the paretic dorsiflexors during swing phase to reduce drop-foot, study participants walked a median 0.14 0.06 m/s faster during the 10-meter walk test and traveled 32 8 m farther during the six minute walk test (). Conclusions: Individuals post-stroke can leverage the paretic plantarflexor and dorsiflexor assistance provided by soft robotic exosuits to achieve clinically-meaningful increases in speed and distance.