Barbareschi Giulia, Richards Rosie, Thornton Matt, Carlson Tom, Holloway Catherine
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:6728-31. doi: 10.1109/EMBC.2015.7319937.
In recent years exoskeletons able to replicate human gait have begun to attract growing popularity for both assistive and rehabilitative purposes. Although wearable robots often need the use of external support in order to maintain stability, the REX exoskeleton by REX Bionics is able to self-balance through the whole cycle. However this statically balanced gait presents important differences with the dynamically balanced gait of human subjects. This paper will examine kinematic and kinetic differences between the gait analysis performed on a subject wearing the REX exoskeleton and human gait analysis data as presented in literature. We will also provide an insight on the impact that these differences can have for both rehabilitative and assistive applications.
近年来，能够复制人类步态的外骨骼开始在辅助和康复领域越来越受欢迎。尽管可穿戴机器人通常需要借助外部支撑来保持稳定，但雷克斯仿生公司的REX外骨骼能够在整个周期内实现自我平衡。然而，这种静态平衡的步态与人类受试者的动态平衡步态存在重要差异。本文将研究对穿着REX外骨骼的受试者进行的步态分析与文献中呈现的人类步态分析数据之间的运动学和动力学差异。我们还将深入探讨这些差异对康复和辅助应用可能产生的影响。
