Comparison of the dynamics of exoskeletal-assisted and unassisted locomotion in an FDA-approved lower extremity device: Controlled experiments and development of a subject-specific virtual simulator.
Comparison of the dynamics of exoskeletal-assisted and unassisted locomotion in an FDA-approved lower extremity device: Controlled experiments and development of a subject-specific virtual simulator.
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DOI：
10.1371/journal.pone.0270078
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发表时间：
2023
期刊：
影响因子：
3.7
通讯作者：
中科院分区：
文献类型：
--
作者：
机器人外骨骼具有相当大的，但在很大程度上尚未开发的潜力，可以恢复患有神经系统疾病和其他导致部分或完全固定的疾病的个人的移动性。对这些设备不断增长的需求需要技术的发展，以表征人类机器人系统在外骨骼辅助运动（EAL）和加速机器人设计的改进。本研究的目的是将联合收割机控制实验与计算建模相结合，建立一个EAL虚拟仿真器。第一个目标是获得一个最小的经验数据集，包括人-机器人运动学，地面反作用力，和肌电图在exoadilal-assisted和unassisted运动从健全的参与者。第二个目标是量化的人-机器人系统的动态使用特定主题的虚拟仿真器再现EAL相比，正常步态的动态。我们训练了一名身体健全的参与者在食品和药物管理局批准的外骨骼ReWalk P6.0（ReWalk Robotics，Yoknaem，以色列）中独立行走。我们分析了参与者在外骨骼辅助和无辅助行走、从坐到站和从站到坐的动作期间的运动，同时测量（i）三维标记轨迹、（ii）地面反作用力、（iii）肌电图和（iv）外骨骼编码器数据。我们在OpenSim中创建了一个虚拟模拟器，包括全身肌肉骨骼模型和全尺寸外骨骼模型，以确定外骨骼辅助和无辅助操作期间的关节运动学和力矩。在外骨骼辅助行走期间，人类受试者的平均峰值膝关节屈曲角为50.1° ± 0.6°（左侧）和52.6° ± 0.7°（右侧），而在无辅助行走期间为68.6° ± 0.3°（左侧）和70.7° ± 1.1°（右侧）。外骨骼辅助行走期间的平均峰值膝关节伸展力矩为0.10 ± 0.10 Nm/kg（左侧）和0.22 ± 0.11 Nm/kg（右侧），而无辅助行走期间为0.64 ± 0.07 Nm/kg（左侧）和0.73 ± 0.10 Nm/kg（右侧）。这项工作提供了一个基础参数的研究，以表征人类和机器人的设计变量的影响，并预测建模，以优化人机交互过程中EAL。
Robotic exoskeletons have considerable, but largely untapped, potential to restore mobility in individuals with neurological disorders, and other conditions that result in partial or complete immobilization. The growing demand for these devices necessitates the development of technology to characterize the human-robot system during exoskeletal-assisted locomotion (EAL) and accelerate robot design refinements. The goal of this study was to combine controlled experiments with computational modeling to build a virtual simulator of EAL. The first objective was to acquire a minimum empirical dataset comprising human-robot kinematics, ground reaction forces, and electromyography during exoskeletal-assisted and unassisted locomotion from an able-bodied participant. The second objective was to quantify the dynamics of the human-robot system using a subject-specific virtual simulator reproducing EAL compared to the dynamics of normal gait. We trained an able-bodied participant to ambulate independently in a Food and Drug Administration-approved exoskeleton, the ReWalk P6.0 (ReWalk Robotics, Yoknaem, Israel). We analyzed the motion of the participant during exoskeletal-assisted and unassisted walking, sit-to-stand, and stand-to-sit maneuvers, with simultaneous measurements of (i) three-dimensional marker trajectories, (ii) ground reaction forces, (iii) electromyography, and (iv) exoskeleton encoder data. We created a virtual simulator in OpenSim, comprising a whole-body musculoskeletal model and a full-scale exoskeleton model, to determine the joint kinematics and moments during exoskeletal-assisted and unassisted maneuvers. Mean peak knee flexion angles of the human subject during exoskeletal-assisted walking were 50.1° ± 0.6° (left) and 52.6° ± 0.7° (right), compared to 68.6° ± 0.3° (left) and 70.7° ± 1.1° (right) during unassisted walking. Mean peak knee extension moments during exoskeletal-assisted walking were 0.10 ± 0.10 Nm/kg (left) and 0.22 ± 0.11 Nm/kg (right), compared to 0.64 ± 0.07 Nm/kg (left) and 0.73 ± 0.10 Nm/kg (right) during unassisted walking. This work provides a foundation for parametric studies to characterize the effects of human and robot design variables, and predictive modeling to optimize human-robot interaction during EAL.
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影响因子：
3.7
作者：
Hayes SC;White M;Wilcox CRJ;White HSF;Vanicek N
通讯作者：
Vanicek N
使用未经动荡的外骨骼降低人行走的能源成本。
影响因子：
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作者：
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作者：
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DOI：
10.1682/jrrd.2014.02.0060
发表时间：
2015-01-01
影响因子：
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作者：
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通讯作者：
Spungen, Ann M.
影响因子：
3.7
作者：
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