Single-stride exposure to pulse torque assistance provided by a robotic exoskeleton at the hip and knee joints
Single-stride exposure to pulse torque assistance provided by a robotic exoskeleton at the hip and knee joints
复制标题
单步接触由髋关节和膝关节处的机器人外骨骼提供的脉冲扭矩辅助
DOI：
10.1109/icorr.2019.8779426
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Sergi, Fabrizio
中科院分区：
文献类型：
--
作者：
McGrath, Robert L.;Sergi, Fabrizio
机器人辅助步态再训练是一种越来越常见的方法，用于支持神经损伤后的步行功能恢复。步态速度是步行功能的指标，与推进力相关，推进力是由推离时后肢的姿势调节的测量值。最终目标是提高机器人辅助步态再训练的效率，我们试图通过将受试者暴露于施加在髋关节和膝关节处的关节扭矩脉冲来直接瞄准步态推进，以调节推离姿势。在这项工作中，我们利用机器人外骨骼施加脉冲扭矩的髋关节和膝关节，在个人的步伐，16个健康的对照组，并量化的影响，这种干预髋关节伸展和推进脉冲期间和之后，这些脉冲的应用程序。我们观察到显着的效果，主要是在脉冲应用的步伐，并在随后的步伐一般没有后效应的结果措施。具体来说，当在站立后期施加脉冲时，我们观察到施加膝盖和/或臀部弯曲脉冲时推进脉冲显着增加，并且当施加臀部伸展扭矩脉冲时臀部伸展角度显着增加。当脉冲施加在早期的立场，我们观察到一个显着增加与髋关节伸展扭矩的推进冲动。
Robot assisted gait retraining is an increasingly common method for supporting restoration of walking function after neurological injury. Gait speed, an indicator of walking function, is correlated with propulsive force, a measure modulated by the posture of the trailing limb at push-off. With the ultimate goal of improving efficacy of robot assisted gait retraining, we sought to directly target gait propulsion, by exposing subjects to pulses of joint torque applied at the hip and knee joints to modulate push-off posture. In this work, we utilized a robotic exoskeleton to apply pulses of torque to the hip and knee joints, during individual strides, of 16 healthy control subjects, and quantified the effects of this intervention on hip extension and propulsive impulse during and after application of these pulses. We observed significant effects in the outcome measures primarily at the stride of pulse application and generally no after effects in the following strides. Specifically, when pulses were applied at late stance, we observed a significant increase in propulsive impulse when knee and/or hip flexion pulses were applied and a significant increase in hip extension angle when hip extension torque pulses were applied. When pulses were applied at early stance, we observed a significant increase in propulsive impulse associated with hip extension torque.
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绕过道路的无线电波：马达加斯加展开的另一段媒体历史，载于 Kazuyo Habuchi 等人编的《媒体实地考察：非洲与移动电话的未来》，第 36-49 页。
DOI：
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发表时间：
2012
期刊：
影响因子：
--
作者：
竹田晋也;飯田卓
通讯作者：
飯田卓
影响因子：
5.1
作者：
Holanda LJ;Silva PMM;Amorim TC;Lacerda MO;Simão CR;Morya E
通讯作者：
Morya E
DOI：
10.1109/icorr.2017.8009258
发表时间：
2017-07
期刊：
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
影响因子：
--
作者：
McGrath RL;Pires-Fernandes M;Knarr B;Higginson JS;Sergi F
通讯作者：
Sergi F
DOI：
--
发表时间：
2013
期刊：
影响因子：
--
作者：
J. Mehrholz;B. Elsner;C. Werner;J. Kugler;M. Pohl
通讯作者：
M. Pohl