Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics
Name
Applying_Hip_Stiffness_With_an_Exoskeleton_to_Compensate_Gait_Kinematics.pdf
Size
1.63 MB
Format
Adobe PDF
Checksum (MD5)
901c17a6bc627cc65ef7c5e284bd4a52
Author(s)
Lee, Jongwoo
Huber, Meghan E.
Hogan, Neville
Date Issued
2021
Journal
IEEE Transactions on Neural Systems and Rehabilitation Engineering
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Lee, Jongwoo, Huber, Meghan E. and Hogan, Neville. 2021. "Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics." IEEE Transactions on Neural Systems and Rehabilitation Engineering, 29.
Version
Final published version
Abstract
Neurological disorders and aging induce impaired gait kinematics. Despite recent advances, effective methods using lower-limb exoskeleton robots to restore gait kinematics are as yet limited. In this study, applying virtual stiffness using a hip exoskeleton was investigated as a possible method to guide users to change their gait kinematics. With a view to applications in locomotor rehabilitation, either to provide assistance or promote recovery, this study assessed whether imposed stiffness induced changes in the gait pattern during walking; and whether any changes persisted upon removal of the intervention, which would indicate changes in central neuro-motor control. Both positive and negative stiffness induced immediate and persistent changes of gait kinematics. However, the results showed little behavioral evidence of persistent changes in neuro-motor control, not even short-lived aftereffects. In addition, stride duration was little affected, suggesting that at least two dissociable layers exist in the neuro-motor control of human walking. The lack of neuro-motor adaptation suggests that, within broad limits, the central nervous system is surprisingly indifferent to the details of lower limb kinematics. The lack of neuro-motor adaptation also suggests that alternative methods may be required to implement a therapeutic technology to promote recovery. However, the immediate, significant, and reproducible changes in kinematics suggest that applying hip stiffness with an exoskeleton may be an effective assistive technology for compensation.
Subjects
Biomedical Engineering
General Neuroscience
Internal Medicine
Rehabilitation
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tnsre.2021.3132621
