文献类型： 会议论文
第一作者： Alexander Weiss
作者： Alexander Weiss 1 ; Anthony Chen 2 ; Daniel B. Janischowky 1 ; Isabella Shih 2 ; Gillian C. Phillips 2 ; Jessica C. Selinger 2 ; Anne D. Koelewijn 1 ;
作者机构： 1.Faculty of Engineering, Biomechanical Motion Analy-sis and Creation (BioMAC) group, Friedrich-Alexander Universität Erlangen-Nürnberg, Erlangen, Germany
2.School of Kinesiology and Health Studies, Queen's University, Kingston, ON, Canada
关键词： Legged locomotion;Ankle;Adaptation models;Biological system modeling;Exoskeletons;Kinematics;Predictive models;Kinetic theory;Robots;Testing
会议名称： [ "IEEE RAS and Engineering in Medicine and Biology Society International Conference on Biomedical Robotics and Biomechatronics" , "IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics"]
主办单位：
页码： 925-930
摘要： Exoskeletons can enhance human gait and reduce metabolic energy expenditure, potentially enabling users to walk further and longer before experiencing fatigue. However, metabolic energy reductions often require hours of walking to tune control parameters to the user and allow the user to adapt to the device through complex human-machine interactions. Predictive simulations could expedite this process by finding near-optimal device and gait parameters ahead of human testing. Here, we investigated if we could create participant specific predictive gait simulations that replicate energetic, kine-matic, and kinetic adaptations to walking with bilateral ankle exoskeletons. We hypothesized that our predictive simulations would generate similar metabolic reductions to those achieved by our human participants' and that these reductions would be explained by similar kinematic and kinetic adaptations. Our hypothesis was partially confirmed, as the simulations predicted an average change in metabolic energy expenditure (12.6± 3.3 %) that matched the experimentally measured change (13.0 ±7.1 %). Moreover, the ankle kinematics during both base-line and exoskeleton walking were similar. However, underlying kinetic responses during exoskeleton walking differed between the simulations and experiments. Furthermore, we did not correctly predict differences in metabolic savings for individual participants. We expect that these differences are related to factors such as individual adaptation rate, muscle activity, and musculotendon dynamics. We conclude that our predictive simulations are currently not accurate enough to predict individual adaptations when walking with an exoskeleton, despite being able to well predict average group changes in metabolic cost and kinematics.
分类号： tp24
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