Fasola Jemina, Vouga Tristan, Baud Romain, Bleuler Hannes, Bouri Mohamed
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:593-598. doi: 10.1109/ICORR.2019.8779500.
This paper investigates sensorimotor adaptation strategies of sagittal postural control in healthy subjects under kinematic constraints. A passive exoskeleton named CAPTUR, with locked ankle joints and legs motion restrained to the sagittal plane is used to restrict and measure participant's movements. The aim is to assess the role of the orientation of the shank and the trunk segments in maintaining the body center of mass above its support base, while the ankle strategy is inhibited. Five young healthy participants were asked to keep standing, while their balance was challenged by five experimental conditions. Participants mainly regulated quiet standing balance by flexing/extending the knees, in order to affect the shank and feet angles, and move the contact patch along the sagittal axis. In this case, the orientation of the trunk segment changes synchronously with the shank angle to keep an upright posture. Responses to more dramatic excursions of the center of pressure are ensured by changing the trunk tilt angle in opposition of phase with the shank angle. These observations could be used to implement a bioinspired balance controller for such constrained lower-limb exoskeletons.
本文研究了健康受试者在运动学约束下矢状面姿势控制的感觉运动适应策略。一种名为CAPTUR的被动外骨骼被用于限制和测量参与者的运动，其踝关节锁定，腿部运动被限制在矢状面内。目的是在抑制踝关节策略的同时，评估小腿和躯干节段的方向在将身体重心保持在支撑基底上方的作用。五名年轻健康的参与者被要求保持站立，同时他们的平衡受到五种实验条件的挑战。参与者主要通过屈伸膝盖来调节安静站立平衡，以影响小腿和足部角度，并使接触点沿矢状轴移动。在这种情况下，躯干节段的方向与小腿角度同步变化以保持直立姿势。通过与小腿角度相反相位地改变躯干倾斜角度，确保对压力中心更剧烈偏移的反应。这些观察结果可用于为这种受限的下肢外骨骼实现一种仿生平衡控制器。
