Assisting Human Balance in Standing With a Robotic Exoskeleton
Assisting Human Balance in Standing With a Robotic Exoskeleton
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DOI：
10.1109/lra.2018.2890671
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发表时间：
2019-04-01
影响因子：
5.2
通讯作者：
Burdet, Etienne
中科院分区：
文献类型：
--
作者：
Farkhatdinov, Ildar;Ebert, Julia;Burdet, Etienne
本文对下肢外骨骼机器人的平衡恢复控制进行了实验研究。四名参与者在站立时受到扰动，向前的力脉冲施加在他们的骨盆上，迫使他们用右腿向前走以恢复平衡。进行了具有和不具有外骨骼辅助以移动步进腿大腿的试验，以研究外骨骼控制辅助对平衡性能和潜在适应的影响。身体运动学和肌肉激活的分析表明，机器人辅助：第一，易于使用，不需要学习，也不抑制健康的步进行为;第二，通过增加髋关节和膝关节的运动，它修改了步进腿轨迹;第三，增加反应速度，减少步骤持续时间;最后，一般增加股二头肌和股直肌肌肉活动。
This letter presents an experimental study on balance recovery control with a lower limb exoskeleton robot. Four participants were subjected to a perturbation during standing, a forward force impulse applied to their pelvis that forced them to step forward with the right leg for balance recovery. Trials with and without exoskeleton assistance to move the stepping legs thigh were conducted to investigate the influence of the exoskeletons control assistance on balancing performance and a potential adaptation. Analysis of the body kinematics and muscle activation demonstrates that robotic assistance: first, was easy to use and did not require learning, nor inhibited the healthy stepping behavior; second, it modified the stepping leg trajectories by increasing hip and knee movement; third, increased reaction speed and decreased the step duration; and finally, generally increased biceps femoris and rectus femoris muscle activity.