被动踝足外骨骼对平地行走时运动表现的影响  

Effects of a passive ankle-foot exoskeleton on motion performance during overground walking

作　　者：孟琳 宋钊熙 董洪涛 徐瑞[2] 明东 Meng Lin;Song Zhaoxi;Dong Hongtao;Xu Rui;Ming Dong(The Academy of Medical Engineering and Translational Medicine,Tianjin University,Tianjin 300072,China;The Department of Biomedical Engineering,School of Precision Instrument and Opto-Electronics Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学医学工程与转化医学研究院,天津300072 [2]天津大学精密仪器与光电子工程学院生物医学工程系,天津300072

出　　处：《电子测量与仪器学报》2023年第6期14-21,共8页Journal of Electronic Measurement and Instrumentation

基　　金：国家重点研发项目(2022YFF1202500,2022YFF1202503);国家自然科学基金项目(82001921)资助。

摘　　要：被动踝关节外骨骼(unpowered-ankle exoskeleton)可实现人体步态行走良好辅助作用,但对其助行增强效果研究多局限于跑步机行走范式,现少有在平地行走下穿戴外骨骼对穿戴者运动生物力学影响的研究。本研究设计组装了一款低成本模块化的被动踝关节外骨骼,首次研究了平地行走下穿戴被动踝关节外骨骼对健康年轻穿戴者肌肉激活与运动表现的影响。实验招募5名穿戴者,在无外骨骼、仅穿戴外骨骼框架和穿戴外骨骼3种实验条件下完成直线行走任务,过程中同步采集人体下肢主要肌群的肌电和关节运动轨迹。提取了肌电激活特征和关节角度特征,采用双因素方差分析方法揭示了不同外骨骼穿戴状态对相关特征的影响。结果表明,外骨骼框架会对人体提供支撑,降低站立阶段腓肠肌内侧肌肉激活。而穿戴外骨骼在站立阶段使腓肠肌内侧的平均肌肉激活显著降低20%,也显著降低了踝关节的峰值力矩及功率。外骨骼会使髋膝关节的运动学和动力学表现发生变化,这可能与下肢关节间的能量交换有关。因此,被动踝关节外骨骼可在平地行走下对踝关节实现支撑相和推离阶段有效辅助,但穿戴者同时也会适应外骨骼穿戴而改变其步态。The passive ankle exoskeleton can provide an efficient assistance at ankle push-off.However,current research mainly focused on its assistance effects during treadmill walking,the actual motion performance during overground walking has not been explored.In this study,we developed a low-cost passive ankle exoskeleton,and firstly investigated its effects on muscle activations and joint kinematics during overground walking.Five healthy young subjects were enrolled in our experiment where they were required to perform overground walking under three wearing conditions:normal walking,wearing an exoskeleton,and wearing an exoskeleton with zero torque assistance.The joint kinematics and electromyography(EMG)signals of the major muscle groups of both lower limbs were collected simultaneously.Features of muscle activation and joint angles were extracted.A two-way analysis of variance(Two-way ANOVA)was employed to investigate the effect of wearing condition on these features.The results showed that the mechanical frame can support the human body resulting in reduced muscle activation of medial gastrocnemius(MG)during the stance phase.Compared to normal walking,the exoskeleton significantly decreased the peak torque and power of the ankle joint while the average activation of the MG was decreased by 20%during the stance phase.Additionally,the exoskeleton may change the hip and knee joints'kinematics.The study demonstrated that the passive ankle exoskeleton effectively assisted the ankle joint during the stance but the wearer may alter gait performance for adapting exoskeleton.

关 键 词：踝足外骨骼 人体增强 无动力外骨骼 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN99[自动化与计算机技术—控制科学与工程]