Objective: Soft robotic exosuits can improve the mechanics and energetics of walking after stroke. Building on this prior work, we evaluated the effects of the first prototype of a portable soft robotic exosuit. Methods: Exosuit-induced changes in the overground walking speed, distance, and energy expenditure of individuals post-stroke were evaluated statistically and compared to minimal clinically important difference scores. Results: Compared to walking without the exosuit worn, the $< $ 5 kg exosuit did not substantially modify speed, distance, or energy expenditure when worn unpowered. In contrast, when powered on to provide an average 22.87 $\pm$ 0.58 %bodyweight of paretic plantarflexor force assistance during stance phase and assist the paretic dorsiflexors during swing phase to reduce drop-foot, study participants walked a median 0.14 $\pm$ 0.06 m/s faster during the 10-meter walk test and traveled 32 $\pm$ 8 m farther during the six minute walk test ( $P < 0.05$ ). Conclusions: Individuals post-stroke can leverage the paretic plantarflexor and dorsiflexor assistance provided by soft robotic exosuits to achieve clinically-meaningful increases in speed and distance.

中文翻译：

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使用软体机器人外装走得更快更远：对中风后步态辅助和康复的影响


目的：软体机器人外装可以改善中风后行走的力学和能量学。在之前的工作基础上，我们评估了便携式软机器人外装的第一个原型的效果。方法：对中风后外装引起的个体地上行走速度、距离和能量消耗的变化进行统计评估，并与最小的临床重要差异评分进行比较。结果：与不穿外骨骼行走相比，$< $5 kg 外骨骼在无动力穿着时不会显着改变速度、距离或能量消耗。相比之下，当通电后，在站立阶段提供平均 22.87 $\pm$ 0.58 %体重的偏瘫跖屈肌力辅助，并在摆动阶段协助偏瘫背屈肌以减少足下垂，研究参与者的行走中位数为 0.14 $\pm$在 10 米步行测试期间速度加快了 0.06 m/s，在 6 分钟步行测试期间又前进了 32 $\pm$ 8 m ( $P < 0.05$ )。结论：中风后的个体可以利用软机器人外装提供的麻痹跖屈肌和背屈肌辅助来实现具有临床意义的速度和距离的增加。