Foot contact forces can be used to personalize a wearable robot during human walking
Abstract Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking effort could be further reduced if the robot is personalized to the wearer using human-in-the-loop (HIL) o...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2022-06-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-14776-9 |
| _version_ | 1818488443904196608 |
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| author | Michael Jacobson Prakyath Kantharaju Hyeongkeun Jeong Jae-Kwan Ryu Jung-Jae Park Hyun-Joon Chung Myunghee Kim |
| author_facet | Michael Jacobson Prakyath Kantharaju Hyeongkeun Jeong Jae-Kwan Ryu Jung-Jae Park Hyun-Joon Chung Myunghee Kim |
| author_sort | Michael Jacobson |
| collection | DOAJ |
| description | Abstract Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking effort could be further reduced if the robot is personalized to the wearer using human-in-the-loop (HIL) optimization of wearable robot parameters. The conventional physiological measurement, however, requires a long estimation time, hampering real-time optimization due to the limited experimental time budget. This study hypothesized that a function of foot contact force, the symmetric foot force-time integral (FFTI), could be used as a cost function for HIL optimization to rapidly estimate the physical effort of walking. We found that the new cost function presents a reasonable correlation with measured metabolic cost. When we employed the new cost function in HIL ankle-foot prosthesis stiffness parameter optimization, 8 individuals with simulated amputation reduced their metabolic cost of walking, greater than 15% (p < 0.02), compared to the weight-based and control-off conditions. The symmetry cost using the FFTI percentage was lower for the optimal condition, compared to all other conditions (p < 0.05). This study suggests that foot force-time integral symmetry using foot pressure sensors can be used as a cost function when optimizing a wearable robot parameter. |
| first_indexed | 2024-12-10T16:51:04Z |
| format | Article |
| id | doaj.art-29ea7f7304a046f7bf3fcbe3e2270190 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-12-10T16:51:04Z |
| publishDate | 2022-06-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-29ea7f7304a046f7bf3fcbe3e22701902022-12-22T01:40:54ZengNature PortfolioScientific Reports2045-23222022-06-0112111210.1038/s41598-022-14776-9Foot contact forces can be used to personalize a wearable robot during human walkingMichael Jacobson0Prakyath Kantharaju1Hyeongkeun Jeong2Jae-Kwan Ryu3Jung-Jae Park4Hyun-Joon Chung5Myunghee Kim6University of Illinois at Chicago, Mechanical and Industrial EngineeringUniversity of Illinois at Chicago, Mechanical and Industrial EngineeringUniversity of Illinois at Chicago, Mechanical and Industrial EngineeringLIG Nex1LIG Nex1Korea Institute of Robotics and Technology ConvergenceUniversity of Illinois at Chicago, Mechanical and Industrial EngineeringAbstract Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking effort could be further reduced if the robot is personalized to the wearer using human-in-the-loop (HIL) optimization of wearable robot parameters. The conventional physiological measurement, however, requires a long estimation time, hampering real-time optimization due to the limited experimental time budget. This study hypothesized that a function of foot contact force, the symmetric foot force-time integral (FFTI), could be used as a cost function for HIL optimization to rapidly estimate the physical effort of walking. We found that the new cost function presents a reasonable correlation with measured metabolic cost. When we employed the new cost function in HIL ankle-foot prosthesis stiffness parameter optimization, 8 individuals with simulated amputation reduced their metabolic cost of walking, greater than 15% (p < 0.02), compared to the weight-based and control-off conditions. The symmetry cost using the FFTI percentage was lower for the optimal condition, compared to all other conditions (p < 0.05). This study suggests that foot force-time integral symmetry using foot pressure sensors can be used as a cost function when optimizing a wearable robot parameter.https://doi.org/10.1038/s41598-022-14776-9 |
| spellingShingle | Michael Jacobson Prakyath Kantharaju Hyeongkeun Jeong Jae-Kwan Ryu Jung-Jae Park Hyun-Joon Chung Myunghee Kim Foot contact forces can be used to personalize a wearable robot during human walking Scientific Reports |
| title | Foot contact forces can be used to personalize a wearable robot during human walking |
| title_full | Foot contact forces can be used to personalize a wearable robot during human walking |
| title_fullStr | Foot contact forces can be used to personalize a wearable robot during human walking |
| title_full_unstemmed | Foot contact forces can be used to personalize a wearable robot during human walking |
| title_short | Foot contact forces can be used to personalize a wearable robot during human walking |
| title_sort | foot contact forces can be used to personalize a wearable robot during human walking |
| url | https://doi.org/10.1038/s41598-022-14776-9 |
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