Neural prosthesis control restores near-normative neuromechanics in standing postural control.
Neural prosthesis control restores near-normative neuromechanics in standing postural control.
复制标题
神经假体控制恢复了站立姿势控制中接近正常的神经力学。
DOI：
10.1126/scirobotics.adf5758
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发表时间：
2023
期刊：
影响因子：
25
通讯作者：
Huang,HeHelen
中科院分区：
文献类型：
--
作者：
Fleming,Aaron;Liu,Wentao;Huang,HeHelen
当前的下肢假肢在姿势控制任务中不提供主动辅助以保持使用者的平衡，特别是在扰动的情况下。在这项研究中，我们的目标是通过实现机器人下肢假肢的神经控制来解决这个缺失的功能。具体而言，肌电图（EMG）信号（放大的神经控制信号）记录从拮抗残余踝关节肌肉被用来驱动机器人假肢踝关节直接和连续。招募了经胫骨截肢的参与者，并对他们进行了使用EMG驱动的机器人踝关节的培训。我们研究了与使用日常被动设备相比，使用EMG控制的踝关节如何影响参与者的预期和补偿姿势控制策略以及预期扰动下的稳定性。我们调查了参与者的神经肌肉协调（通过分析运动模块）的相似性，在姿势摇摆任务中使用任何一种设备，健全的控制。结果表明，与被动假体相比，肌电控制假体使参与者能够使用接近规范的姿势控制策略，这一点可以通过改善完整假体压力中心和关节角度偏移的肢体间对称性来证明。参与者大大改善了姿势的稳定性，这可以通过使用EMG控制的假体踝关节减少台阶或福尔斯来证明。此外，在重新学习使用残余踝关节肌肉来驱动机器人踝关节进行姿势控制后，几乎所有参与者的运动模块结构都向没有截肢的个体中观察到的结构转变。在这里，我们已经证明了机器人下肢假肢的直接EMG控制的潜在好处，以恢复规范的姿势控制策略（神经和生物力学），以提高截肢者用户的站立姿势稳定性。
Current lower-limb prostheses do not provide active assistance in postural control tasks to maintain the user’s balance, particularly in situations of perturbation. In this study, we aimed to address this missing function by enabling neural control of robotic lower-limb prostheses. Specifically, electromyographic (EMG) signals (amplified neural control signals) recorded from antagonistic residual ankle muscles were used to drive a robotic prosthetic ankle directly and continuously. Participants with transtibial amputation were recruited and trained in using the EMG-driven robotic ankle. We studied how using the EMG-controlled ankle affected the participants’ anticipatory and compensatory postural control strategies and stability under expected perturbations compared with using their daily passive devices. We investigated the similarity of neuromuscular coordination (by analyzing motor modules) of the participants, using either device in a postural sway task, to that of able-bodied controls. Results showed that, compared with their passive prosthesis, the EMG-controlled prosthesis enabled participants to use near-normative postural control strategies, as evidenced by improved between-limb symmetry in intact-prosthetic center-of-pressure and joint angle excursions. Participants substantially improved postural stability, as evidenced by a reduction in steps or falls using the EMG-controlled prosthetic ankle. Furthermore, after relearning to use residual ankle muscles to drive the robotic ankle in postural control, nearly all participants’ motor module structure shifted toward that observed in individuals without limb amputations. Here, we have demonstrated the potential benefit of direct EMG control of robotic lower limb prostheses to restore normative postural control strategies (both neural and biomechanical) toward enhancing standing postural stability in amputee users.