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Objective: Semi-active exoskeletons combining lightweight, low powered actuators and passive-elastic elements are a promising approach to portable robotic assistance during locomotion. Here, we introduce a novel semi-active hip exoskeleton concept and evaluate human walking performance across a range of parameters using a tethered robotic testbed. Methods : We emulated semi-active hip exoskeleton (exo) assistance by applying a virtual torsional spring with a fixed rotational stiffness and an equilibrium angle established in terminal swing phase (i.e., via pre-tension into stance). We performed a 2-D sweep of spring stiffness x equilibrium position parameters (30 combinations) across walking speed (1.0, 1.3, and 1.6 m/s) and measured metabolic rate to identify device parameters for optimal metabolic benefit. Results : At each speed, optimal exoskeleton spring settings provided a ∼10% metabolic benefit compared to zero-impedance (ZI). Higher walking speeds required higher exoskeleton stiffness and lower equilibrium angle for maximal metabolic benefit. Optimal parameters tuned to each individual (user-dependent) provided significantly larger metabolic benefit than the average-best settings (user-independent) at all speeds except the fastest (p = 0.021, p = 0.001, and p = 0.098 at 1.0, 1.3, and 1.6 m/s, respectively). We found significant correlation between changes in user's muscle activity and changes in metabolic rate due to exoskeleton assistance, especially for muscles crossing the hip joint. Conclusion : A semi-active hip exoskeleton with spring-parameters personalized to each user could provide metabolic benefit across functional walking speeds. Minimizing muscle activity local to the exoskeleton is a promising approach for tuning assistance on-line on a user-dependent basis.
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Neuromechanics and Energetics of Walking With an Ankle Exoskeleton Using Neuromuscular-Model Based Control: A Parameter Study
Powered ankle exoskeletons that apply assistive torques with optimized timing and magnitude can reduce metabolic cost by ∼10% compared to normal walking. However, finding individualized optimal control parameters is time consuming and must be done independently for different walking modes (e.g., speeds, slopes). Thus, there is a need for exoskeleton controllers that are capable of continuously adapting torque assistance in concert with changing locomotor demands. One option is to use a biologically inspired, model-based control scheme that can capture the adaptive behavior of the human plantarflexors during natural gait. Here, based on previously demonstrated success in a powered ankle-foot prosthesis, we developed an ankle exoskeleton controller that uses a neuromuscular model (NMM) comprised of a Hill type musculotendon driven by a simple positive force feedback reflex loop. To examine the effects of NMM reflex parameter settings on (i) ankle exoskeleton mechanical performance and (ii) users’ physiological response, we recruited nine healthy, young adults to walk on a treadmill at a fixed speed of 1.25 m/s while donning bilateral tethered robotic ankle exoskeletons. To quantify exoskeleton mechanics, we measured exoskeleton torque and power output across a range of NMM controller Gain (0.8–2.0) and Delay (10–40 ms) settings, as well as a High Gain/High Delay (2.0/40 ms) combination. To quantify users’ physiological response, we compared joint kinematics and kinetics, ankle muscle electromyography and metabolic rate between powered and unpowered/zero-torque conditions. Increasing NMM controller reflex Gain caused increases in average ankle exoskeleton torque and net power output, while increasing NMM controller reflex Delay caused a decrease in net ankle exoskeleton power output. Despite systematic reduction in users’ average biological ankle moment with exoskeleton mechanical assistance, we found no NMM controller Gain or Delay settings that yielded changes in metabolic rate. Post hoc analyses revealed weak association at best between exoskeleton and biological mechanics and changes in users’ metabolic rate. Instead, changes in users’ summed ankle joint muscle activity with powered assistance correlated with changes in their metabolic energy use, highlighting the potential to utilize muscle electromyography as a target for on-line optimization in next generation adaptive exoskeleton controllers.
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- Award ID(s):
- 1830215
- PAR ID:
- 10231184
- Date Published:
- Journal Name:
- Frontiers in Bioengineering and Biotechnology
- Volume:
- 9
- ISSN:
- 2296-4185
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.3389/fbioe.2021.615358
