Background. The analysis and comprehension of the coordination control of a human gait on common grounds benefit the development of robotic exoskeleton for motor recovery. Objective. This study investigated whether the common grounds effect the interjoint coordination of healthy participants with/without exoskeletons in walking. Methods. The knee-ankle coordination and hip-knee coordination of 8 healthy participants in a sagittal plane were measured on five kinds of pavements (tiled, carpet, wooden, concrete, and pebbled) with/without exoskeletons, using the continuous relative phase (CRP). The root mean square of CRP (CRP_RMS) over each phase of the gait cycle is used to analyze the magnitude of dephasing between joints, and the standard deviation of CRP (CRP_SD) in the full gait cycle is used to assess the variability of coordination patterns between joints. Results. The CRP_Hip-Knee/RMS of the carpet pavement with exoskeleton is different from that of other pavements (except the tiled pavement) in the midstance phase. The CRP_Hip-Knee/RMS on the pebble pavement without exoskeleton is less than that on the other pavements in all phases. The CRP_Hip-Knee/SD of the pebble pavement without exoskeleton is smaller than that of other pavements. The CRP_{Knee-Ankle/SD} with/without exoskeleton is similar across all pavements. Conclusion. The compressive capacity of the pavement and the unevenness of the pavement are important factors that influence interjoint coordination, which can be used as key control elements of gait to adapt different pavements for robotic exoskeleton. Novelty. We provide a basis of parameter change of kinematics on different common grounds for the design and optimization of robotic exoskeleton for motor recovery.

中文翻译：

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普通路面对有无机器人外骨骼行走关节协调性的影响。

背景。在共同基础上分析和理解人类步态的协调控制有利于开发用于运动恢复的机器人外骨骼。客观。这项研究调查了共同点是否影响健康参与者在行走时有/没有外骨骼的相互协调。方法。使用连续相对相位 (CRP) 在有/无外骨骼的五种路面（瓷砖、地毯、木质、混凝土和鹅卵石）上测量 8 名健康参与者的膝踝协调和髋膝协调矢状面. CRP 的均方根(CRP _RMS）在步态周期的每个阶段用于分析关节之间的相位差幅度，并使用整个步态周期中 CRP 的标准偏差（CRP _SD）来评估关节之间协调模式的可变性。结果。具有外骨骼的地毯路面的 CRP _Hip-Knee/RMS在中间阶段不同于其他路面（瓷砖路面除外）。没有外骨骼的卵石路面上的CRP _Hip-Knee/RMS在所有阶段都小于其他路面。没有外骨骼的卵石路面的 CRP _Hip-Knee/SD小于其他路面。CRP_膝-踝/SD有/没有外骨骼在所有路面上都是相似的。结论。路面的抗压能力和路面的不平整度是影响关节间协调性的重要因素，可以作为步态的关键控制元素，以适应不同的路面，以适应机器人外骨骼。新奇。我们为运动恢复机器人外骨骼的设计和优化提供了基于不同共同点的运动学参数变化的基础。