Impact of Haptic Cues and an Active Ankle Exoskeleton on Gait Characteristics
Impact of Haptic Cues and an Active Ankle Exoskeleton on Gait Characteristics
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DOI：
10.1177/00187208221113625
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发表时间：
2022-07
期刊：
影响因子：
3.3
通讯作者：
Man I Wu;P. Stegall;H. Siu;L. Stirling
中科院分区：
文献类型：
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作者：
Man I Wu;P. Stegall;H. Siu;L. Stirling
目的研究主动踝关节外骨骼与步态同步振动触觉信号的相互作用。增强步态的外骨骼可通过向用户反馈关于外骨骼的状态或任务的特性来支持协作。方法受试者（N = 16）在自行步速跑步机上行走时，在摆动后期和站立早期的预先指定的时间点提供扭矩辅助和振动触觉提示的组合。参与者被给予明确的指示（N = 8）或被允许自由解释（N=8）如何与线索协调。结果对于自由解释组，数据支持步幅增加8%，速度增加14%，外骨骼扭矩跨提示时间，以及步幅增加5%，速度增加7%，只有振动触觉提示。当给予明确的指示，参与者调制速度根据线索定时增加速度17%的线索在后期摆动和速度下降11%的线索在早期的立场相比，没有线索时，外骨骼扭矩关闭。当扭矩打开时，有明确指示的参与者减少了速度的变化。结论这些发现支持力矩的存在减轻了线索的使用，并强调了触觉提示的显式指令的重要性。在用外骨骼行走时解释提示可能会增加认知负荷，从而影响新手用户的整体人类外骨骼性能。步态期间触觉反馈和外骨骼使用之间的交互可以为未来的反馈设计提供信息，以支持用户和外骨骼之间的协调。
Objective This study examined the interaction of gait-synchronized vibrotactile cues with an active ankle exoskeleton that provides plantarflexion assistance. Background An exoskeleton that augments gait may support collaboration through feedback to the user about the state of the exoskeleton or characteristics of the task. Methods Participants (N = 16) were provided combinations of torque assistance and vibrotactile cues at pre-specified time points in late swing and early stance while walking on a self-paced treadmill. Participants were either given explicit instructions (N = 8) or were allowed to freely interpret (N=8) how to coordinate with cues. Results For the free interpretation group, the data support an 8% increase in stride length and 14% increase in speed with exoskeleton torque across cue timing, as well as a 5% increase in stride length and 7% increase in speed with only vibrotactile cues. When given explicit instructions, participants modulated speed according to cue timing—increasing speed by 17% at cues in late swing and decreasing speed 11% at cues in early stance compared to no cue when exoskeleton torque was off. When torque was on, participants with explicit instructions had reduced changes in speed. Conclusion These findings support that the presence of torque mitigates how cues were used and highlights the importance of explicit instructions for haptic cuing. Interpreting cues while walking with an exoskeleton may increase cognitive load, influencing overall human-exoskeleton performance for novice users. Application Interactions between haptic feedback and exoskeleton use during gait can inform future feedback designs to support coordination between users and exoskeletons.