期刊
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
卷 68, 期 9, 页码 2870-2879出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TBME.2021.3083580
关键词
Knee; Exoskeletons; Torque; Actuators; Legged locomotion; Biomechanics; Biology; Wearable robotics; sloped walking; robotic exoskeleton; knee exoskeleton; biomechanics
资金
- FDA through the Atlantic Pediatric Device Consortium
- NextFlex NMMI Grant [PC3.6 - LMCOGaTech]
- NSF National Robotic Initiative [1830215]
- Shriner's Foundation
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1830215] Funding Source: National Science Foundation
This study compared the biomechanical effects of three different assistance strategies on a knee exoskeleton system and found that all strategies significantly reduced metabolic cost compared to the unpowered condition, with no significant differences between strategies. Powered extension assistance during early stance was shown to improve performance, but user control of assistance may not be significant when walking on an inclined surface with a knee exoskeleton.
Despite there being studies that have investigated the effects of human augmentation using a knee exoskeleton, comparing different assistance schemes on a single knee exoskeleton has not been studied. Using a light-weight, low-profile bilateral knee exoskeleton system, this study examined and compared the biomechanical effects of three common assistance strategies (biological torque, impedance, and proportional myoelectric controllers) exhibiting different levels of flexibility for the user to control the assistance. Nine subjects walked on a 15% gradient incline surface at 1.1 m/s in the three powered conditions and with the exoskeleton unpowered. All the assistance strategies significantly reduced the metabolic cost of the users compared to the unpowered condition by 3.0% on average across strategies (p < 0.05), led by the significant reduction in the biological knee kinetic effort and knee extensor muscle activation (p < 0.05). Between assistance strategies, the metabolic cost and biomechanics displayed no statistically significant differences. The metabolic and biomechanical results indicate that powered extension assistance during early stance can improve performance compared to the unpowered condition. However, the user's ability to control the assistance may not be significant for human augmentation when walking on an inclined surface with a knee exoskeleton.
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