Journal
SCIENTIFIC REPORTS
Volume 12, Issue 1, Pages -Publisher
NATURE PORTFOLIO
DOI: 10.1038/s41598-022-14776-9
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Funding
- Korea Institute of Robotics and Technology (KIRO) [097937]
- Institute of Civil Military Technology Cooperation - Defense Acquisition Program Administration [19-CM-GU-01]
- Institute of Civil Military Technology Cooperation - Ministry of Trade, Industry and Energy of Korean government [19-CM-GU-01]
- LIG Nex1 [100493]
- Agency for Defense Development (ADD), Republic of Korea [19-CM-GU-01] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Individuals with below-knee amputation experience increased physical effort when walking, but using a robotic ankle-foot prosthesis can reduce this effort. This study proposes a new cost function for optimizing wearable robot parameters, based on the symmetrical foot force-time integral using foot pressure sensors. The results show that using this cost function significantly reduces metabolic cost of walking in individuals with simulated amputation.
Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking effort could be further reduced if the robot is personalized to the wearer using human-in-the-loop (HIL) optimization of wearable robot parameters. The conventional physiological measurement, however, requires a long estimation time, hampering real-time optimization due to the limited experimental time budget. This study hypothesized that a function of foot contact force, the symmetric foot force-time integral (FFTI), could be used as a cost function for HIL optimization to rapidly estimate the physical effort of walking. We found that the new cost function presents a reasonable correlation with measured metabolic cost. When we employed the new cost function in HIL ankle-foot prosthesis stiffness parameter optimization, 8 individuals with simulated amputation reduced their metabolic cost of walking, greater than 15% (p < 0.02), compared to the weight-based and control-off conditions. The symmetry cost using the FFTI percentage was lower for the optimal condition, compared to all other conditions (p < 0.05). This study suggests that foot force-time integral symmetry using foot pressure sensors can be used as a cost function when optimizing a wearable robot parameter.
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