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Gait-symmetry-based human-in-the-loop optimization for unilateral transtibial amputees with robotic prostheses
bioRxiv - Bioengineering Pub Date : 2020-10-05 , DOI: 10.1101/2020.10.04.325720
Yanggan Feng , Chengqiang Mao , Qining Wang

Gait asymmetry due to the loss of unilateral limb increases the risk of injury or progressive joint degeneration. The development of wearable robotic devices paves a way to improve gait symmetry of unilateral amputees. Moreover, the state-of-the-art studies on human-in-the-loop optimization strategies through decreasing the metabolic cost as the optimization task, have met several challenges, e.g. too long period of optimization and the optimization feasibility for unilateral amputees who have the deficit of gait symmetry. Here, in this paper, we proposed gait-symmetry-based human-in-the-loop optimization method to decrease the risk of injury or progressive joint degeneration for unilateral transtibial amputees. The experimental results (N = 3 unilateral transtibial subjects) demonstrate that only average 9.0 min of convergence was taken. Compared to gait symmetry while wearing prosthetics, after optimization, the gait symmetry indicator value of the subjects wearing the robotic prostheses was improved by 21.0% and meanwhile the net metabolic energy consumption value was reduced by 9.2%. Also, this paper explores the rationality of gait indicators and what kind of gait indicators are the optimization target. These results suggest that gait-symmetry-based human-in-the-loop strategy could pave a practical way to improve gait symmetry by accompanying the reduction of metabolic cost, and thus to decrease the risk of joint injury for the unilateral amputees.

中文翻译:

基于步态对称性的单侧胫骨截肢机器人假肢人体优化

由于失去单侧肢体而导致步态不对称会增加受伤或进行性关节变性的风险。可穿戴机器人设备的发展为改善单侧截肢者的步态对称性铺平了道路。此外,通过降低代谢成本作为优化任务的人在环优化策略的最新研究已经遇到了一些挑战,例如优化时间过长以及单侧截肢者的优化可行性。步态对称性不足。在本文中,我们提出了一种基于步态对称的人体在环优化方法,以降低单侧胫骨截肢者受伤或进行性关节变性的风险。实验结果(N = 3个单侧胫骨受试者)表明,平均仅会聚9.0分钟。与佩戴假肢时的步态对称性相比,优化后,佩戴机器人假肢的受试者的步态对称性指标值提高了21.0%,同时净代谢能量消耗值降低了9.2%。此外,本文还探讨了步态指标的合理性以及哪种步态指标是优化目标。这些结果表明,基于步态对称性的“人在环”策略可以通过降低代谢成本,为提高步态对称性铺平道路,从而降低单侧截肢者关节受伤的风险。0%,同时净代谢能量消耗值降低了9.2%。此外,本文还探讨了步态指标的合理性以及哪种步态指标是优化目标。这些结果表明,基于步态对称性的“人在环”策略可以通过降低代谢成本,为提高步态对称性铺平道路,从而降低单侧截肢者关节受伤的风险。0%,同时净代谢能量消耗值降低了9.2%。此外,本文还探讨了步态指标的合理性以及哪种步态指标是优化目标。这些结果表明,基于步态对称性的“人在环”策略可以通过降低代谢成本,为提高步态对称性铺平道路,从而降低单侧截肢者关节受伤的风险。
更新日期:2020-10-06
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