Simulation-guided design of wearable assistive devices for improving human mobility

可穿戴的辅助设备可以防止受伤，促进恢复，提高运动成绩。已经提出了几种矫形和假体装置，包括由电机驱动的刚性结构组成的外骨骼，以及包括配备有张紧电缆的功能服装的“外骨骼”。这些设备可以是便携的(不通电或电池供电)，也可以连接到外部设备。一些设备是大型承重机器，直接将力传递到地面；另一些设备类似于合身的衣服。到目前为止，可穿戴式辅助设备的开发主要是通过实验来进行的，但仅靠测量无法深入了解决定设备有效性的潜在机制。理解和预测机电设备与人体神经、肌肉和骨骼系统之间的相互作用是具有挑战性的：即使是表面上看起来简单的动作，如行走，也极其复杂，涉及数十块肌肉的精确协调。模拟通过为实验观察提供生物力学解释来帮助我们了解人类的运动，例如为什么脚踝肌肉会受到髋部佩戴的外骨骼的影响，而优化可以通过快速探索拟议的设计来加速辅助设备的开发。目前，人们对许多设备的肌肉水平效应知之甚少：我们缺乏必要的分析和预测工具。这项研究将通过开发、应用和传播新的方法和计算工具来加深我们对设备辅助运动的理解。我们将开发研究人与设备交互的方法，例如步态适应对设备性能的影响，并将使用这些方法为患者群体模拟可穿戴的辅助设备。我们还将开发新的方法，从惯性测量单元获得高质量的骨骼运动学估计，从而能够分析自然环境中的设备辅助运动。我们的计算工具将在开源软件中实现和广泛传播，供研究人员、临床医生、机器人专家和从事这一快速发展领域的其他人员立即采用。这项研究的应用是多而深刻的。有规律的体育锻炼有助于预防高血压、抑郁症和其他严重疾病。对于数百万行动不便的加拿大成年人来说，增进我们对人类活动的理解并消除锻炼障碍至关重要。可穿戴辅助设备有可能恢复骨关节炎患者的功能，通过持续的家庭监测促进康复，并保护我们免受伤害。这些设备将取代助行器、轮椅、拐杖和拐杖，改善行动不便的个人的生活质量，并延长老年人的“健康寿命”。让我们继续前进！

Wearable assistive devices can prevent injury, improve recovery, and enhance athletic performance. Several orthotic and prosthetic devices have been proposed, including exoskeletons comprising a rigid structure actuated by motors and "exosuits" comprising functional apparel equipped with tensioned cables. These devices may be portable (either unpowered or battery powered) or tethered to external equipment. Some devices are large, weight-bearing machines that transmit forces directly to the ground; others resemble form-fitting clothing. To date, wearable assistive devices have been developed primarily using experiments, but measurements alone provide little insight into the underlying mechanisms that determine a device's effectiveness. Understanding and predicting interactions between mechatronic devices and the body's neural, muscular, and skeletal systems is challenging: even ostensibly simple movements like walking are incredibly complex, involving precise coordination of dozens of muscles. Simulations help us understand human movement by providing biomechanical explanations for experimental observations, such as why ankle muscles are affected by an exoskeleton worn at the hip, and optimizations can accelerate development of assistive devices by enabling rapid exploration of proposed designs. Currently, the muscle-level effects of many devices are poorly understood: we lack the necessary analytical and predictive tools. This research will deepen our understanding of device-assisted movement through development, application, and dissemination of new methods and computational tools. We will develop methods for studying human-device interactions, such as the effect of gait adaptation on device performance, and will use these methods to simulate wearable assistive devices for patient populations. We will also develop new methods for obtaining high-quality estimates of skeletal kinematics from inertial measurement units, enabling analysis of device-assisted movement in natural environments. Our computational tools will be implemented and broadly disseminated in open-source software for immediate adoption by researchers, clinicians, roboticists, and others engaged in this rapidly developing field. The applications of this research are numerous and profound. Regular physical activity helps prevent hypertension, depression, and other serious illnesses. It is critical to advance our understanding of human movement and eliminate barriers to exercise for the millions of Canadian adults suffering from limited mobility. Wearable assistive devices have the potential to restore function to individuals with osteoarthritis, accelerate rehabilitation through continuous at-home monitoring, and protect us from injury. These devices are poised to replace walkers and wheelchairs, crutches and canes, improving the quality of life for individuals with limited mobility and extending the "healthspan" of older adults. Let's keep moving!