扩展节段间协调定律：对动力假肢控制的启示
Extending the Law of Intersegmental Coordination: Implications for Powered Prosthetic Controls
AI总结：
针对下肢截肢者步行代谢成本问题，提出基于节段间协调定律的假肢控制框架，通过分析三维运动学数据扩展出力矩协调定律，并开发了开源工具包。
摘要：
动力假肢能够为截肢者提供净正功，并在过去二十年中取得了进步。然而，降低截肢者步行代谢成本仍是一个未解决的问题。节段间协调定律（ISC）已在多种步态中被观察到，并先前被认为与步行能量消耗有关，但很少在下肢截肢者步态背景下进行分析或应用。该定律指出，大腿、小腿和足部在步态周期中的仰角是协变的。在这项工作中，我们开发了一种方法，用于分析下肢三维运动学数据的节段间协调，以简化ISC分析。此外，受运动控制、生物力学和机器人学文献的启发，我们使用该方法将ISC扩展为一种新的力矩协调定律。我们发现了这些仰角空间力矩（ESM），并展示了显示健全步态基于力矩的协调的结果。我们还分析了使用动力和被动假肢的截肢者步态的ISC，发现虽然仰角保持平面性，但ESM缺乏平面协调。我们提出了一个ISC驱动的动力假肢控制框架，使用健康协调作为约束来预测小腿角度/力矩，以补偿由于被动足部引起的改变。我们开发了ISC3d工具箱，该工具可在线免费获取，可用于计算三维运动学和动力学ISC。这为进一步研究协调在步态中的作用提供了手段，并可能有助于解决人类运动神经控制的基本问题。
英文摘要：
Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC) has been observed across gaits and previously implicated in energy expenditure of walking, yet it has rarely been analyzed or applied within the context of lower-limb amputee gait. This law states that the elevation angles of the thigh, shank and foot over the gait cycle covary. In this work, we developed a method to analyze intersegmental coordination for lower-limb 3D kinematic data, to simplify ISC analysis. Moreover, inspired by motor control, biomechanics and robotics literature, we used our method to extend ISC to a new law of coordination of moments. We find these Elevation Space Moments (ESM), and present results showing a moment-based coordination for able bodied gait. We also analyzed ISC for amputee gait with powered and passive prostheses, and found that while elevation angles remained planar, the ESM lacked planar coordination. We present an ISC-driven powered prosthetic control framework, using healthy coordination as a constraint to predict the shank angles/moments to compensate for alterations due to a passive foot. We developed the ISC3d toolbox that is freely available online, which may be used to compute kinematic and kinetic ISC in 3D. This provides a means to further study the role of coordination in gait and may help address fundamental questions of the neural control of human movement.
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