Bi-articular Knee-Ankle-Foot Exoskeleton Produces Higher Metabolic Cost Reduction than Weight-Matched Mono-articular Exoskeleton
Bi-articular Knee-Ankle-Foot Exoskeleton Produces Higher Metabolic Cost Reduction than Weight-Matched Mono-articular Exoskeleton
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DOI：
10.3389/fnins.2018.00069
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发表时间：
2018-03-01
影响因子：
4.3
通讯作者：
De Clercq, Dirk
中科院分区：
文献类型：
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作者：
Malcolm, Philippe;Galle, Samuel;De Clercq, Dirk
双关节M。腓肠肌和单关节肌比目鱼肌在行走过程中具有不同和互补的功能。几个研究小组开始利用这些生物学功能作为灵感，设计具有双关节驱动组件的假体，以取代关节的功能。腓肠肌模拟研究表明，一个双关节配置和弹簧，模仿m。腓肠肌可能对矫形器或外骨骼有益。我们的目的是测试模拟m的双关节和弹簧配置的效果。腓肠肌，并将其与无弹簧和单关节配置进行比较。我们测试了9名参与者在步行过程中与背部安装气动肌肉执行器的膝踝足外骨骼。在双关节加弹簧条件下，气动肌肉与大腿段用弹性绳连接。在双关节无弹簧条件下，气动肌肉也连接到大腿段，但用非弹性绳。在单关节条件下，气动肌肉连接到小腿段。我们发现，与双关节加弹簧条件下外骨骼断电行走相比，代谢成本最高降低13%。对此的可能解释可能是外骨骼在这种情况下在脚踝和膝盖处提供了最高的总正功，并且在生物跖屈肌的等长阶段期间提供了更多的帮助。正如预期的那样，我们发现双关节条件降低了m。腓肠肌肌电图较单关节状态下多，但差异无统计学意义。我们没有发现单关节条件会减少m。比目鱼肌肌电图较双关节状态下更明显。不同外骨骼配置对代谢成本和肌肉激活的特定影响的知识可用于为特定步态障碍提供定制的辅助。
The bi-articular m. gastrocnemius and the mono-articular m. soleus have different and complementary functions during walking. Several groups are starting to use these biological functions as inspiration to design prostheses with bi-articular actuation components to replace the function of the m. gastrocnemius. Simulation studies indicate that a bi-articular configuration and spring that mimic the m. gastrocnemius could be beneficial for orthoses or exoskeletons. Our aim was to test the effect of a bi-articular and spring configuration that mimics the m. gastrocnemius and compare this to a no-spring and mono-articular configuration. We tested nine participants during walking with knee-ankle-foot exoskeletons with dorsally mounted pneumatic muscle actuators. In the bi-articular plus spring condition the pneumatic muscles were attached to the thigh segment with an elastic cord. In the bi-articular no-spring condition the pneumatic muscles were also attached to the thigh segment but with a non-elastic cord. In the mono-articular condition the pneumatic muscles were attached to the shank segment. We found the highest reduction in metabolic cost of 13% compared to walking with the exoskeleton powered-off in the bi-articular plus spring condition. Possible explanations for this could be that the exoskeleton delivered the highest total positive work in this condition at the ankle and the knee and provided more assistance during the isometric phase of the biological plantarflexors. As expected we found that the bi-articular conditions reduced m. gastrocnemius EMG more than the mono-articular condition but this difference was not significant. We did not find that the mono-articular condition reduces the m. soleus EMG more than the bi-articular conditions. Knowledge of specific effects of different exoskeleton configurations on metabolic cost and muscle activation could be useful for providing customized assistance for specific gait impairments.