Mechanics and energetics of incline walking with robotic ankle exoskeletons
Mechanics and energetics of incline walking with robotic ankle exoskeletons
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DOI：
10.1242/jeb.017277
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发表时间：
2009-01-01
影响因子：
2.8
通讯作者：
Ferris, Daniel P.
中科院分区：
文献类型：
--
作者：
Sawicki, Gregory S.;Ferris, Daniel P.
我们检查了佩戴机器人踝关节外骨骼的健康人类受试者，以研究上坡行走期间踝关节肌肉肌腱工作的代谢成本。外骨骼由人造气动肌肉提供动力，并由用户的比目鱼肌肌电图控制。我们假设，随着对净正外部机械功的需求随着表面梯度的增加而增加，踝外骨骼提供的正功将更大程度地降低用户的代谢成本。九名人类受试者在 0%、5%、10% 和 15% 的梯度上以 1.25ms(-1) 的速度行走。我们比较了无动力和动力外骨骼条件下的 O(2) 消耗率和 CO(2) 产生率、外骨骼力学、关节运动学和表面肌电图。在较陡的斜坡上，踝关节外骨骼提供更多的平均正机械功率（P
We examined healthy human subjects wearing robotic ankle exoskeletons to study the metabolic cost of ankle muscle-tendon work during uphill walking. The exoskeletons were powered by artificial pneumatic muscles and controlled by the user's soleus electromyography. We hypothesized that as the demand for net positive external mechanical work increased with surface gradient, the positive work delivered by ankle exoskeletons would produce greater reductions in users' metabolic cost. Nine human subjects walked at 1.25ms(-1) on gradients of 0%, 5%, 10% and 15%. We compared rates of O(2) consumption and CO(2) production, exoskeleton mechanics, joint kinematics, and surface electromyography between unpowered and powered exoskeleton conditions. On steeper inclines, ankle exoskeletons delivered more average positive mechanical power (P