Ronsse Renaud, Koopman Bram, Vitiello Nicola, Lenzi Tommaso, De Rossi Stefano Marco Maria, van den Kieboom Jesse, van Asseldonk Edwin, Carrozza Maria Chiara, van der Kooij Herman, Ijspeert Auke Jan
Biorobotics Laboratory; Institute of Bioengineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015 Lausanne, Switzerland.
IEEE Int Conf Rehabil Robot. 2011;2011:5975352. doi: 10.1109/ICORR.2011.5975352.
In this paper, we further develop our framework to design new assistance and rehabilitation protocols based on motor primitives. In particular, we extend our recent results of oscillator-based assistance to the case of walking. The adaptive oscillator used in this paper is capable of predicting the angular position of the user's joints in the future, based on the pattern learned during preceding cycles. Assistance is then provided by attracting the joints to this future position using a force field in a compliant lower-limb exoskeleton. To demonstrate the method efficiency, we computed the rate of metabolic energy expended by the participants during a walking task, with and without assistance. Results show a significant decrease of energy expenditure with the assistance switched on, although not to a point to entirely compensate for the burden due to the exoskeleton lack of transparency. The results further show changes in the kinematics: with assistance, the participants walked with a faster cadence and ampler movements. These results tend to prove the relevance of designing assistance protocols based on adaptive oscillators (or primitives in general) and pave the way to the design of new rehabilitation protocols.
在本文中，我们进一步拓展了我们的框架，以设计基于运动原语的新型辅助和康复方案。具体而言，我们将基于振荡器的辅助的近期研究成果扩展至步行情形。本文中使用的自适应振荡器能够根据在前一周期学到的模式预测用户关节在未来的角位置。然后，通过在柔顺下肢外骨骼中使用力场将关节吸引到这个未来位置来提供辅助。为了证明该方法的有效性，我们计算了参与者在有辅助和无辅助的步行任务期间消耗的代谢能量速率。结果表明，开启辅助后能量消耗显著降低，尽管尚未达到完全补偿因外骨骼缺乏透明度而带来的负担的程度。结果还进一步显示了运动学方面的变化：在有辅助的情况下，参与者行走时步频更快且动作幅度更大。这些结果倾向于证明基于自适应振荡器（或一般而言的原语）设计辅助方案的相关性，并为新的康复方案设计铺平道路。
