发表机构
Karlsruhe Institute of Technology (KIT); University of Waterloo（卡尔斯鲁厄理工学院; 滑铁卢大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究通过9名受试者的 treadmill 行走实验，分析外骨骼辅助下的生物力学变量，揭示运动适应渐进且个体化的特点，凸显个体层面时间演变分析的重要性。
AI 中文摘要
目前对人在穿戴外骨骼辅助运动时的自然适应过程，尤其是适应行为的个体差异及时间演变规律的认识仍有限。本研究分析生物力学变量的时间演变，以揭示不同外骨骼辅助运动场景下受试者特有的适应策略。9名健康受试者在三种条件下进行 treadmill 行走：无外骨骼、外骨骼主动踝关节助力、外骨骼零力矩模式。从组级和个体层面分析下肢运动学、关节间协调及运输代谢成本（MCoT）。结果显示，适应是渐进且高度个体化的，受试者间收敛时间和运动模式存在显著差异；下肢运动学适应异步发生，摆动相波动更大；代谢反应异质且常不收敛，凸显文献中常用稳态假设的局限性。这些发现强调个体层面时间演变分析对理解外骨骼使用中适应动态的重要性。
英文摘要
The understanding of natural human adaptation during exoskeleton-assisted locomotion - particularly individual differences in adaptation behaviors and temporal progression - remains limited. In this work, we investigate temporal evolution of biomechanical variables to uncover participant-specific adaptation strategies across different exoskeleton-assisted locomotion scenarios. Nine healthy participants performed treadmill walking under three conditions: without an exoskeleton, with exoskeleton active ankle assistance, and with exoskeleton zero-torque. Lower limb kinematics, inter-joint coordination, and metabolic cost of transport (MCoT) were analyzed at both the group and individual levels. Results indicate that adaptation is gradual and highly individualized, with substantial variability in convergence timing and movement patterns across participants. Kinematic adaptation occurred asynchronously across lower limb, with larger fluctuations during the swing phase. Metabolic responses were heterogeneous and often non-convergent, highlighting the limitations of steady-state assumptions commonly adopted in the literature. These findings emphasize the importance of individual-level, temporal evolution analyses for understanding adaptation dynamics in exoskeleton use.
CommentsThis work has been submitted to the IEEE Transactions in Medical Robotics and Bionics (T-MRB) and it is currently under review
