Cooperative ankle-exoskeleton control can reduce effort to recover balance after unexpected disturbances during walking.
Cooperative ankle-exoskeleton control can reduce effort to recover balance after unexpected disturbances during walking.
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DOI：
10.1186/s12984-022-01000-y
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发表时间：
2022-02-17
影响因子：
5.1
通讯作者：
van Asseldonk EHF
中科院分区：
文献类型：
--
作者：
Bayón C;Keemink AQL;van Mierlo M;Rampeltshammer W;van der Kooij H;van Asseldonk EHF
在过去的二十年中，下肢外骨骼已被开发出来以帮助人类站立和运动。持续存在的挑战之一是外骨骼平衡支撑和佩戴者控制之间的配合。在这里，我们提出了一种脚踝-外骨骼协作控制策略，以帮助在行走过程中意外干扰后恢复平衡，该策略受到人类平衡反应的启发。我们在 10 名佩戴 Symbitron 外骨骼脚踝模块的身体健全的参与者中评估了这种新型控制器。在行走过程中，参与者在骨盆水平上收到不同时间和幅度的意外向前推力，同时由控制器提供的机器人辅助提供支持（Exo-Assistance）或不支持（Exo-NoAssistance）。辅助策略的有效性根据以下方面进行评估：（1）控制器性能（检测延迟、关节角度和施加的踝关节扭矩），（2）努力分析（扰动发生后标准化肌肉活动的积分）； (3) 质心 COM 运动学（相对最大 COM 运动、恢复时间和稳定裕度）和时空参数（步长和摆动时间）分析。总的来说，结果表明，当控制器处于活动状态时，它能够减少参与者的努力，同时保持类似的抵消和承受平衡干扰的能力。比较 Exo-Assistance 和 Exo-NoAssistance 步行条件时，发现站立腿的比目鱼肌和腓肠肌内侧肌活动显着减少。所提出的控制器能够与身体健全的参与者合作抵消扰动，为支持动态平衡的最先进的仿生合作踝外骨骼控制器做出了贡献。未来，这种控制策略可能会用于外骨骼，以支持和改善运动障碍用户的平衡控制。在线版本包含可在 10.1186/s12984-022-01000-y 获取的补充材料。
In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is the cooperation between the exoskeleton balance support and the wearer control. Here we present a cooperative ankle-exoskeleton control strategy to assist in balance recovery after unexpected disturbances during walking, which is inspired on human balance responses. We evaluated the novel controller in ten able-bodied participants wearing the ankle modules of the Symbitron exoskeleton. During walking, participants received unexpected forward pushes with different timing and magnitude at the pelvis level, while being supported (Exo-Assistance) or not (Exo-NoAssistance) by the robotic assistance provided by the controller. The effectiveness of the assistive strategy was assessed in terms of (1) controller performance (Detection Delay, Joint Angles, and Exerted Ankle Torques), (2) analysis of effort (integral of normalized Muscle Activity after perturbation onset); and (3) Analysis of center of mass COM kinematics (relative maximum COM Motion, Recovery Time and Margin of Stability) and spatio-temporal parameters (Step Length and Swing Time). In general, the results show that when the controller was active, it was able to reduce participants’ effort while keeping similar ability to counteract and withstand the balance disturbances. Significant reductions were found for soleus and gastrocnemius medialis activity of the stance leg when comparing Exo-Assistance and Exo-NoAssistance walking conditions. The proposed controller was able to cooperate with the able-bodied participants in counteracting perturbations, contributing to the state-of-the-art of bio-inspired cooperative ankle exoskeleton controllers for supporting dynamic balance. In the future, this control strategy may be used in exoskeletons to support and improve balance control in users with motor disabilities. The online version contains supplementary material available at 10.1186/s12984-022-01000-y.
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影响因子：
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