Biomechanics of Exoskeleton-Assisted Treadmill Walking

被引：4
|
作者：
Di Tommaso, F. [1 ]
Tamburella, F. [2 ]
Lorusso, M. [2 ]
Gastaldi, L. [3 ]
Molinari, M. [2 ]
Tagliamonte, N. L. [1 ,2 ]
机构：
[1] Univ Campus Bio Med Roma, Res Unit Adv Robot & Human Ctr Technol, Rome, Italy
[2] Fdn Santa Lucia, Lab Robot Neurorehabil, Neurorehabil Dept 1, Rome, Italy
[3] Politecn Torino, Dept Mech & Aerosp Engn, Turin, Italy
来源：
2023 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, ICORR | 2023年
基金：
欧盟地平线“2020”;
关键词：
Exoskeleton-assisted walking; treadmill-based exoskeleton; walking biomechanics; robotic gait trainer; MUSCLE-ACTIVITY; GAIT; STROKE; FORCE;
D O I：
10.1109/ICORR58425.2023.10304685
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
To exploit the benefits of treadmill-based exoskeletons, it is crucial to assess possible deviations from natural walking depending on assistive parameters. This study evaluated the biomechanics of exoskeleton-assisted treadmill walking by comparing it with free gait. Five healthy participants walked freely on a treadmill and with the assistance of the Lokomat gait trainer, while changing Body Weight Support (BWS), Gait Speed (GS), and Guidance Force (GF). Results showed that the hip and knee joint kinematics depended on BWS and GS, while changes due to GF were limited. Moreover, joint kinematics and the activity of related muscles were altered with respect to free gait, for any combination of robot parameters in the case of the ankle, and especially for low GS and with BWS in the case of hip and knee. Overall, walking with the Lokomat can mostly resemble free gait at high speed and without BWS.
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收藏
页数：6
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