辅助延迟对髋关节外骨骼生物力矩控制中关节力学与能量学的影响
Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton
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中文总结 AI 辅助
本研究探讨辅助延迟对髋关节外骨骼生物力矩控制的影响，发现延迟影响关节功但代谢效益稳定，且正向功率辅助不适用于负功主导的下坡行走。
中文摘要 AI 辅助
生物力矩控制直接将估计的人体关节力矩映射为外骨骼辅助力，提供了一种与任务无关的策略来支持多种 locomotor 活动。然而，目前尚不清楚固定的状态-力矩映射是否能在生物力学上不同的任务中提供有效辅助。我们研究了辅助延迟对水平地面（LG）、上坡（RA）和下坡（RD）行走中髋关节外骨骼性能的影响。八名参与者完成了零力矩基线条件和五个主动辅助条件，延迟范围从 40 毫秒到 320 毫秒。在所有任务和主动延迟条件下，辅助使净代谢率降低了 5.24%，正向生物髋关节功降低了 5.86%，下肢总正向关节功降低了 1.68%（所有 p < 0.05）。辅助延迟影响了两个关节功结果（两者 p < 0.001），但不影响净代谢率。机械卸载通常随延迟增加而减少，而代谢益处相对稳定。与零力矩条件相比，净代谢率在 LG 期间降低了 9.75%，在 RA 期间降低了 7.20%，但在 RD 期间增加了 1.23%。我们未检测到延迟响应中的任务依赖性差异。我们的研究结果表明，生物力矩映射应根据目标结果和被辅助关节的机械作用进行评估，并且以正向功率为主的辅助可能无法在不经修改的情况下推广到以负功为主的运动。
英文摘要
Biological torque control directly maps an estimated human joint moment to exoskeleton assistance, providing a task-agnostic strategy for supporting diverse locomotor activities. However, it remains unclear whether a fixed state-to-torque mapping provides effective assistance across biomechanically distinct tasks. We examined how assistance delay affected hip exoskeleton performance during level-ground (LG), ramp-ascent (RA), and ramp-descent (RD) walking. Eight participants completed a zero-torque baseline condition and five active assistance conditions with delays ranging from 40 to 320 ms. Across tasks and active delays, assistance reduced net metabolic rate by 5.24%, positive biological hip joint work by 5.86%, and total lower-limb positive joint work by 1.68% (all p < 0.05). Assistance delay affected both joint-work outcomes (both p < 0.001) but not net metabolic rate. Mechanical unloading generally decreased with increasing delay, whereas metabolic benefits remained comparatively stable. Relative to the zero-torque condition, net metabolic rate decreased by 9.75% during LG and 7.20% during RA but increased by 1.23% during RD. We did not detect task-dependent differences in the delay response. Our findings indicate that biological torque mappings should be evaluated based on the target outcome and mechanical role of the assisted joint, and that predominantly positive-power assistance may not generalize to negative-work-dominant locomotion without modification.
发表机构
- Carnegie Mellon University（卡内基梅隆大学）
机构由 AI 辅助整理，请以论文原文为准。
