Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults
Ankle foot orthoses are mainly applied to provide stability in the stance phase and adequate foot clearance in the swing phase; however, they do not sufficiently assist during the entire gait cycle. On the other hand, robotic-controlled orthoses can provide mechanical assistance throughout the phase...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-09-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2022.993939/full |
| _version_ | 1828227912216608768 |
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| author | Kei Nakagawa Keita Higashi Akari Ikeda Naoto Kadono Eiichiro Tanaka Louis Yuge |
| author_facet | Kei Nakagawa Keita Higashi Akari Ikeda Naoto Kadono Eiichiro Tanaka Louis Yuge |
| author_sort | Kei Nakagawa |
| collection | DOAJ |
| description | Ankle foot orthoses are mainly applied to provide stability in the stance phase and adequate foot clearance in the swing phase; however, they do not sufficiently assist during the entire gait cycle. On the other hand, robotic-controlled orthoses can provide mechanical assistance throughout the phases of the gait cycle. This study investigated the effect of ankle control throughout the gait cycle using an ankle joint walking assistive device under five different robotic assistance conditions: uncontrolled, dorsiflexion, and plantar flexion controlled at high and low speeds in the initial loading phase. Compared with the no-control condition, the plantar flexion condition enhanced knee extension and delayed the timing of ankle dorsiflexion in the stance phase; however, the opposite effect occurred under the dorsiflexion condition. Significant differences in the trailing limb angle and minimum toe clearance were also observed, although the same assistance was applied from the mid-stance phase to the initial swing phase. Ankle assistance in the initial loading phase affected the knee extension and ankle dorsiflexion angle during the stance phase. The smooth weight shift obtained might have a positive effect on lifting the limb during the swing phase. Robotic ankle control may provide appropriate assistance throughout the gait cycle according to individual gait ability. |
| first_indexed | 2024-04-12T18:13:34Z |
| format | Article |
| id | doaj.art-f92344b591df4a02998232cfb45edbde |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-04-12T18:13:34Z |
| publishDate | 2022-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-f92344b591df4a02998232cfb45edbde2022-12-22T03:21:45ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182022-09-011610.3389/fnbot.2022.993939993939Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adultsKei Nakagawa0Keita Higashi1Akari Ikeda2Naoto Kadono3Eiichiro Tanaka4Louis Yuge5Division of Bio-Environmental Adaptation Sciences, Graduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima, JapanDepartment of Rehabilitation, Innoshima Medical Association Hospital, Onomichi, JapanDivision of Bio-Environmental Adaptation Sciences, Graduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima, JapanDivision of Bio-Environmental Adaptation Sciences, Graduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima, JapanGraduate School of Information, Production and Systems, Faculty of Science and Engineering, Waseda University, Kita-Kyushu, JapanDivision of Bio-Environmental Adaptation Sciences, Graduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima, JapanAnkle foot orthoses are mainly applied to provide stability in the stance phase and adequate foot clearance in the swing phase; however, they do not sufficiently assist during the entire gait cycle. On the other hand, robotic-controlled orthoses can provide mechanical assistance throughout the phases of the gait cycle. This study investigated the effect of ankle control throughout the gait cycle using an ankle joint walking assistive device under five different robotic assistance conditions: uncontrolled, dorsiflexion, and plantar flexion controlled at high and low speeds in the initial loading phase. Compared with the no-control condition, the plantar flexion condition enhanced knee extension and delayed the timing of ankle dorsiflexion in the stance phase; however, the opposite effect occurred under the dorsiflexion condition. Significant differences in the trailing limb angle and minimum toe clearance were also observed, although the same assistance was applied from the mid-stance phase to the initial swing phase. Ankle assistance in the initial loading phase affected the knee extension and ankle dorsiflexion angle during the stance phase. The smooth weight shift obtained might have a positive effect on lifting the limb during the swing phase. Robotic ankle control may provide appropriate assistance throughout the gait cycle according to individual gait ability.https://www.frontiersin.org/articles/10.3389/fnbot.2022.993939/fullgaitankle jointwalking assistive devicerocker functionkinematic analysis |
| spellingShingle | Kei Nakagawa Keita Higashi Akari Ikeda Naoto Kadono Eiichiro Tanaka Louis Yuge Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults Frontiers in Neurorobotics gait ankle joint walking assistive device rocker function kinematic analysis |
| title | Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults |
| title_full | Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults |
| title_fullStr | Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults |
| title_full_unstemmed | Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults |
| title_short | Robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults |
| title_sort | robotic ankle control can provide appropriate assistance throughout the gait cycle in healthy adults |
| topic | gait ankle joint walking assistive device rocker function kinematic analysis |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2022.993939/full |
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