Estimating the Mechanical Behavior of the Knee Joint During Crouch Gait: Implications for Real-Time Motor Control of Robotic Knee Orthoses.
Estimating the Mechanical Behavior of the Knee Joint During Crouch Gait: Implications for Real-Time Motor Control of Robotic Knee Orthoses.
复制标题
估计蹲下步态期间膝关节的机械行为：对机器人膝矫形器的实时运动控制的影响。
DOI：
10.1109/tnsre.2016.2550860
复制
发表时间：
2016-06
期刊：
影响因子：
--
通讯作者：
Bulea TC
中科院分区：
文献类型：
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作者：
Lerner ZF;Damiano DL;Bulea TC
脑瘫患者经常表现出蹲伏步态，这是一种病理性的行走方式，其特征是膝关节过度弯曲。了解蹲姿时的膝关节力矩对于治疗辅助装置的设计和控制是必要的。我们的目标是1)建立统计模型来估计蹲姿时的膝关节力矩极值和动态刚度，2)使用该模型来估计体重接受时的瞬时关节力矩。我们回顾性地计算了10名蹲伏步态儿童的膝关节力矩，并使用逐步线性回归建立了描述膝关节力矩特征的统计模型。这些模型解释了至少90%的响应值变化：站姿早期（99%）和后期（90%）的峰值矩，以及重量接受屈曲（94%）和伸展（98%）的动态刚度。我们从预测的动态刚度和瞬时膝关节角度估计膝关节伸肌力矩分布。这种方法捕获了计算力矩的时间和形状（均方根误差：2.64 Nm）；包括预测的早期姿态峰值力矩作为校正因子，提高了模型性能（均方根误差：1.37 Nm）。我们的策略提供了一种实用、准确的方法来估计蹲姿时的膝关节力矩，并可用于机器人矫形器的实时、自适应控制。
Individuals with cerebral palsy frequently exhibit crouch gait, a pathological walking pattern characterized by excessive knee flexion. Knowledge of the knee joint moment during crouch gait is necessary for the design and control of assistive devices used for treatment. Our goal was to 1) develop statistical models to estimate knee joint moment extrema and dynamic stiffness during crouch gait, and 2) use the models to estimate the instantaneous joint moment during weight-acceptance. We retrospectively computed knee moments from 10 children with crouch gait and used stepwise linear regression to develop statistical models describing the knee moment features. The models explained at least 90% of the response value variability: peak moment in early (99%) and late (90%) stance, and dynamic stiffness of weight-acceptance flexion (94%) and extension (98%). We estimated knee extensor moment profiles from the predicted dynamic stiffness and instantaneous knee angle. This approach captured the timing and shape of the computed moment (root-mean-squared error: 2.64 Nm); including the predicted early-stance peak moment as a correction factor improved model performance (root-mean-squared error: 1.37 Nm). Our strategy provides a practical, accurate method to estimate the knee moment during crouch gait, and could be used for real-time, adaptive control of robotic orthoses.