Vashista Vineet, Khan Moiz, Agrawal Sunil K
Mechanical Engineering, Columbia University, New York during this work. He is now with the Mechanical Engineering, Indian Institute of Technology Gandhinagar, India.
Mechanical Engineering, Columbia University, New York.
IEEE Robot Autom Lett. 2016 Jul;1(2):1118-1124. doi: 10.1109/LRA.2016.2522083. Epub 2016 Jan 26.
In this paper, we develop an intervention to apply external gait synchronized forces on the pelvis to reduce the user's effort during walking. A cable-driven robot was used to apply the external forces and an adaptive frequency oscillator scheme was developed to adapt the timing of force actuation to the gait frequency during walking. The external forces were directed in the sagittal plane to assist the trailing leg during the forward propulsion and vertical deceleration of the pelvis during the gait cycle. A pilot experiment with five healthy subjects was conducted. The results showed that the subjects applied lower ground reaction forces in the vertical and anterior-posterior directions during the late stance phase. In summary, the current work provides a novel approach to study the role of external pelvic forces in altering the walking effort. These studies can provide better understanding for designing exoskeletons and prosthetic devices to reduce the overall walking effort.
在本文中，我们开发了一种干预措施，通过对骨盆施加外部步态同步力来减少用户行走时的用力。使用了一个电缆驱动的机器人来施加外力，并开发了一种自适应频率振荡器方案，以在行走过程中使力的作用时间与步态频率相匹配。外力作用于矢状面，在步态周期中骨盆向前推进和垂直减速时辅助后摆腿。对五名健康受试者进行了一项初步实验。结果表明，受试者在站立后期在垂直和前后方向上施加的地面反作用力较低。总之，当前的工作提供了一种新颖的方法来研究外部骨盆力在改变行走用力方面的作用。这些研究可以为设计外骨骼和假肢装置以减少整体行走用力提供更好的理解。
