Assistance magnitude versus metabolic cost reductions for a tethered multiarticular soft exosuit
Assistance magnitude versus metabolic cost reductions for a tethered multiarticular soft exosuit
复制标题
DOI：
10.1126/scirobotics.aah4416
复制
发表时间：
2017-01-18
期刊：
影响因子：
25
通讯作者：
Walsh, C. J.
中科院分区：
文献类型：
--
作者：
Quinlivan, B. T.;Lee, S.;Walsh, C. J.
当定义用于行走辅助的任何可穿戴机器人的要求时，重要的是最大化由机器护甲辅助产生的用户的代谢益处，同时限制携带系统质量的代谢惩罚。因此，本研究的目的是隔离和表征辅助幅度和步行的代谢成本之间的关系，同时也检查穿戴者的基本步态力学的变化。该研究是在正常行走过程中使用拴系多关节软外装护具进行的，其中由于织物结构，辅助直接施加在踝关节处，间接施加在髋关节处。外装护具控制器被设计成使得踝关节处的递送扭矩曲线近似于正常行走期间的生物扭矩曲线。七名参与者在一个无动力和四个动力条件下以每秒1.5米的速度在跑步机上行走，其中施加在踝关节处的峰值力矩从生物踝关节力矩的约10%到38%不等（相当于施加的力为体重的18.7%到75.0%）。结果表明，随着机器护甲助力的增加，净代谢率在测试范围内持续下降。当施加最大辅助时，行走的代谢率相对于断电条件降低了22.83 +/- 3.17%（平均值+/- SEM）。
When defining requirements for any wearable robot for walking assistance, it is important to maximize the user's metabolic benefit resulting from the exosuit assistance while limiting the metabolic penalty of carrying the system's mass. Thus, the aim of this study was to isolate and characterize the relationship between assistance magnitude and the metabolic cost of walking while also examining changes to the wearer's underlying gait mechanics. The study was performed with a tethered multiarticular soft exosuit during normal walking, where assistance was directly applied at the ankle joint and indirectly at the hip due to a textile architecture. The exosuit controller was designed such that the delivered torque profile at the ankle joint approximated that of the biological torque during normal walking. Seven participants walked on a treadmill at 1.5 meters per second under one unpowered and four powered conditions, where the peak moment applied at the ankle joint was varied from about 10 to 38% of biological ankle moment (equivalent to an applied force of 18.7 to 75.0% of body weight). Results showed that, with increasing exosuit assistance, net metabolic rate continually decreased within the tested range. When maximum assistance was applied, the metabolic rate of walking was reduced by 22.83 +/- 3.17% relative to the powered-off condition (mean +/- SEM).