Effects of a powered ankle-foot orthosis on perturbed standing balance.
Effects of a powered ankle-foot orthosis on perturbed standing balance.
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动力脚踝矫形器对扰动的站立平衡的影响。
DOI：
10.1186/s12984-018-0393-8
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发表时间：
2018-06-18
影响因子：
5.1
通讯作者：
van der Kooij H
中科院分区：
文献类型：
--
作者：
Emmens AR;van Asseldonk EHF;van der Kooij H
下肢外骨骼主要用于提供步行支撑，而平衡则留给用户。设计平衡控制器是外骨骼开发中最大的挑战之一。本研究的目的是设计并评估一种用于动力踝足矫形器的平衡控制器，并评估其对健康受试者站立平衡的影响。我们设计并实现了一个基于受试者身体摇摆的平衡控制器。该控制器进行了比较，一个简单的虚拟踝关节刚度和零阻抗控制器。十名健康的受试者穿着动力踝足矫形器，在接受前后推时必须保持站立平衡而不踩踏。质心运动学，踝关节扭矩和小腿的肌肉活动进行了分析，以评估用户和外骨骼的平衡性能。不同的控制器并没有显着影响的质心响应。然而，基于身体摇摆的控制器导致生物踝关节扭矩比零阻抗控制器降低29%，比虚拟踝关节刚度降低32%。此外，与零阻抗相比，左腿和右腿的比目鱼肌活动平均降低8%，而胫骨前肌活动增加47%。基于身体摇摆的控制器产生类似人类的扭矩曲线，而虚拟踝关节刚度没有。结果，具有基于身体摇摆的控制器的动力踝足矫形器在帮助健康受试者保持平衡方面是有效的，尽管在身体摇摆响应方面没有看到改善，但是在受试者的生物踝扭矩减小以抵消扰动方面。这种减少是比目鱼肌活动减少和胫骨前肌活动增加的综合效应。
Lower extremity exoskeletons are mainly used to provide stepping support, while balancing is left to the user. Designing balance controllers is one of the biggest challenges in the development of exoskeletons. The goal of this study was to design and evaluate a balance controller for a powered ankle-foot orthosis and assess its effect on the standing balance of healthy subjects. We designed and implemented a balance controller based on the subject’s body sway. This controller was compared to a simple virtual-ankle stiffness and a zero impedance controller. Ten healthy subjects wearing a powered ankle-foot orthosis had to maintain standing balance without stepping while receiving anteroposterior pushes. Center of mass kinematics, ankle torques and muscle activity of the lower legs were analyzed to assess the balance performance of the user and exoskeleton. The different controllers did not significantly affect the center of mass responses. However, the body sway based controller resulted in a decrease of 29% in the biological ankle torque compared to the zero impedance controller and a decrease of 32% compared to the virtual-ankle stiffness. Furthermore, the soleus muscle activity of the left and right leg decreased on average with 8%, while the tibialis anterior muscle activity increased with 47% compared to zero impedance. The body sway based controller generated human-like torque profiles, whereas the virtual-ankle stiffness did not. As a result, the powered ankle-foot orthosis with the body sway based controller was effective in assisting the healthy subjects in maintaining balance, although the improvements were not seen in the body sway response, but in the subjects’ decreased biological ankle torques to counteract the perturbations. This decrease was a combined effect of decreased soleus muscle activity and increased tibialis anterior muscle activity.
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影响因子：
64.8
作者：
Collins, Steven H.;Wiggin, M. Bruce;Sawicki, Gregory S.
通讯作者：
Sawicki, Gregory S.
影响因子：
2.8
作者：
Jezernik, S;Colombo, G;Morari, M
通讯作者：
Morari, M
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作者：
Engelhart, D.;Pasma, J. H.;van der Kooij, H.
通讯作者：
van der Kooij, H.
影响因子：
2.8
作者：
Vlutters, M.;van Asseldonk, E. H. F.;van der Kooij, H.
通讯作者：
van der Kooij, H.
影响因子：
2.5
作者：
Lam, T;Anderschitz, M;Dietz, V
通讯作者：
Dietz, V