Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton

J. Fasola, T. Vouga, Romain Baud, H. Bleuler, M. Bouri
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引用次数: 14

Abstract

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.
锁踝被动外骨骼站立时的平衡控制策略
本文研究了运动约束下健康受试者矢状位控制的感觉运动适应策略。一种名为CAPTUR的被动式外骨骼,具有锁定的踝关节和限制在矢状面的腿部运动,用于限制和测量参与者的运动。目的是评估小腿和躯干部分的方向在保持身体质量中心高于其支撑基础的作用,而脚踝的策略被抑制。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。参与者主要通过弯曲/伸展膝盖来调节静立平衡,以影响小腿和脚的角度,并沿着矢状轴移动接触片。在这种情况下,躯干部分的方向与小腿角度同步变化,以保持直立姿势。通过改变与杆角相反的躯干倾斜角度,可以保证对更剧烈的压力中心偏移的响应。这些观察结果可用于实现这种受限的下肢外骨骼的仿生平衡控制器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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