Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?
Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?
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DOI：
10.1371/journal.pone.0140626
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发表时间：
2015
期刊：
影响因子：
3.7
通讯作者：
Meeusen R
中科院分区：
文献类型：
--
作者：
Knaepen K;Mierau A;Swinnen E;Fernandez Tellez H;Michielsen M;Kerckhofs E;Lefeber D;Meeusen R
为了确定机器人辅助跑步机行走的最佳训练参数，必须了解机器人设备如何与其穿戴者交互，以及设备的参数设置如何影响运动控制。本研究的目的是评估机器人辅助跑步机行走过程中不同水平的引导力对皮层活动的影响。18名健康受试者在跑步机上以2 km.h-1的速度行走，有和没有Lokomat机器人步态矫形器的帮助。研究了在无辅助跑步机行走期间以及在30%、60%和100%引导力（0%体重支撑）下机器人辅助跑步机行走期间的事件相关频谱扰动和功率谱密度变化。独立成分的聚类揭示了健康受试者在跑步机行走和机器人辅助跑步机行走过程中感觉运动皮层的三个活动集群。这些集群表现出步态相关的频谱调制的μ，β和低伽马波段的感觉运动皮层相关的步态周期的特定阶段。此外，与机器人辅助的100%引导力的跑步机行走相比，在跑步机行走期间，右初级感觉皮层中的μ和β节律被抑制，这表明与机器人辅助的跑步机行走相比，跑步机行走期间感觉运动区的参与显著更大。只有边际差异的μ，β和低γ波段的光谱功率可以确定机器人辅助跑步机步行与不同水平的指导力。从这些结果可以得出结论：高水平的引导力（即，100%的引导力），因此在机器人辅助的跑步机行走期间应避免在运动期间较少的主动参与。这将优化感觉运动皮层的参与，这对运动学习至关重要。
In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.