在步行过程中,横跨距骨和距下关节的电缆驱动辅助对踝关节复合体的反应如何?

IF 5.2 2区 医学 Q2 ENGINEERING, BIOMEDICAL
Xinyue Zhang;Ronglei Sun
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引用次数: 0

摘要

缆索驱动的踝关节外骨骼主要是为了帮助跖屈曲而设计的,但它们的驱动缆索也跨越距下关节,可能会产生意想不到的反转-扭转扭矩。这些意想不到的扭矩会影响前平面运动学、关节协调、步态稳定性和辅助效率。本研究调查了行走过程中踝关节复合体对多维辅助扭矩的反应。为此,我们建立了基于解剖关节轴的辅助扭矩模型,并开发了双缆驱动踝关节外骨骼进行评估。研究人员测试了四种辅助模式:三种单缆模式,从内侧(Med)、中央(Mid)或外侧(Lat)脚跟位置施加力,以及一种双缆仿生(Bionic)模式,复制生理扭矩分布。六名健康参与者在每种模式下进行跑步机行走试验,记录了多种生物力学和生理变量。仿真和实验结果表明,与无辅助行走相比,Lat模式产生了外翻力矩,增加了外翻,使压力中心(CoP)向内侧移动,使中外侧质心摆动减少了9%,从而提高了稳定性。Med和Mid模式诱导了反转矩,增加了反转,并使CoP侧向偏移,其中Med模式的影响最大。与其他模式相比,仿生模式相对于无辅助行走的肌肉激活减少最大,使比目鱼肌肌电图降低10%,踝关节内翻肌群和腓骨短肌肌电图降低18-22%,同时最好地保留了踝关节协调模式。这些发现强调了前平面动力学在踝关节外骨骼控制中的重要性,以及仿生扭矩分配在保持协调和减少辅助行走运动努力方面的好处。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
How Does the Ankle Complex Respond to Cable-Driven Assistance Spanning the Talocrural and Subtalar Joints During Walking?
Cable-driven ankle exoskeletons are primarily designed to assist plantarflexion, but their actuation cables also span the subtalar joint, potentially producing unintended inversion–eversion torques. These unintended torques can affect frontal-plane kinematics, joint coordination, gait stability, and assistance efficiency. This study investigated how the ankle complex responds to multidimensional assistance torques during walking. To this end, we established an assistive torque model based on anatomical joint axes and developed a dual-cable-driven ankle exoskeleton for evaluation. Four assistance modes were examined: three single-cable modes applying force from medial (Med), central (Mid), or lateral (Lat) heel positions, and a dual-cable biomimetic (Bionic) mode replicating physiological torque distribution. Six healthy participants performed treadmill walking trials in each mode, with multiple biomechanical and physiological variables recorded. Simulation and experimental results showed that the Lat mode generated eversion moments, increased eversion, shifted the center of pressure (CoP) medially, and reduced mediolateral center-of-mass sway by 9% compared with unassisted walking, thereby improving stability. The Med and Mid modes induced inversion moments, increased inversion, and shifted the CoP laterally, with Med producing the strongest effect. Compared with the other modes, the Bionic mode achieved the greatest reduction in muscle activation relative to unassisted walking, lowering soleus EMG by 10% and that of the ankle inversion muscle group and peroneus brevis by 18–22%, while best preserving ankle coordination patterns. These findings highlight the importance of frontal-plane dynamics in ankle exoskeleton control and the benefits of biomimetic torque distribution in preserving coordination and reducing locomotor effort in assisted walking.
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来源期刊
CiteScore
8.60
自引率
8.20%
发文量
479
审稿时长
6-12 weeks
期刊介绍: Rehabilitative and neural aspects of biomedical engineering, including functional electrical stimulation, acoustic dynamics, human performance measurement and analysis, nerve stimulation, electromyography, motor control and stimulation; and hardware and software applications for rehabilitation engineering and assistive devices.
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