Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot
Robot-aided locomotor rehabilitation has proven challenging. To facilitate progress, it is important to first understand the neuro-mechanical dynamics and control of unimpaired human locomotion. Our previous studies found that human gait entrained to periodic torque pulses at the ankle when the puls...
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| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2024
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| Online Access: | https://hdl.handle.net/1721.1/153428 |
| _version_ | 1811094697775464448 |
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| author | Lee, Jongwoo Huber, Meghan E. Hogan, Neville |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Lee, Jongwoo Huber, Meghan E. Hogan, Neville |
| author_sort | Lee, Jongwoo |
| collection | MIT |
| description | Robot-aided locomotor rehabilitation has proven challenging. To facilitate progress, it is important to first understand the neuro-mechanical dynamics and control of unimpaired human locomotion. Our previous studies found that human gait entrained to periodic torque pulses at the ankle when the pulse period was close to preferred stride duration. Moreover, synchronized gait exhibited a constant phase relation with the pulses so that the robot provided mechanical assistance. To test the generality of mechanical gait entrainment, this study characterized unimpaired human subjects' responses to periodic torque pulses during overground walking. The intervention was applied by a hip exoskeleton robot, Samsung GEMS-H. Gait entrainment was assessed based on the time-course of the phase at which torque pulses occurred within each stride. Experiments were conducted for two consecutive days to evaluate whether the second day elicited more entrainment. Whether entrainment was affected by the difference between pulse period and preferred stride duration was also assessed. Results indicated that the intervention evoked gait entrainment that occurred more often when the period of perturbation was closer to subjects' preferred stride duration, but the difference between consecutive days was insignificant. Entrainment was accompanied by convergence of pulse phase to a similar value across all conditions, where the robot maximized mechanical assistance. Clear evidence of motor adaptation indicated the potential of the intervention for rehabilitation. This study quantified important aspects of the nonlinear neuro-mechanical dynamics underlying unimpaired human walking, which will inform the development of effective approaches to robot-aided locomotor rehabilitation, exploiting natural dynamics in a minimally-encumbering way. |
| first_indexed | 2024-09-23T16:03:37Z |
| format | Article |
| id | mit-1721.1/153428 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:03:37Z |
| publishDate | 2024 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1534282024-07-12T16:29:32Z Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot Lee, Jongwoo Huber, Meghan E. Hogan, Neville Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences Biomedical Engineering General Neuroscience Internal Medicine Rehabilitation Robot-aided locomotor rehabilitation has proven challenging. To facilitate progress, it is important to first understand the neuro-mechanical dynamics and control of unimpaired human locomotion. Our previous studies found that human gait entrained to periodic torque pulses at the ankle when the pulse period was close to preferred stride duration. Moreover, synchronized gait exhibited a constant phase relation with the pulses so that the robot provided mechanical assistance. To test the generality of mechanical gait entrainment, this study characterized unimpaired human subjects' responses to periodic torque pulses during overground walking. The intervention was applied by a hip exoskeleton robot, Samsung GEMS-H. Gait entrainment was assessed based on the time-course of the phase at which torque pulses occurred within each stride. Experiments were conducted for two consecutive days to evaluate whether the second day elicited more entrainment. Whether entrainment was affected by the difference between pulse period and preferred stride duration was also assessed. Results indicated that the intervention evoked gait entrainment that occurred more often when the period of perturbation was closer to subjects' preferred stride duration, but the difference between consecutive days was insignificant. Entrainment was accompanied by convergence of pulse phase to a similar value across all conditions, where the robot maximized mechanical assistance. Clear evidence of motor adaptation indicated the potential of the intervention for rehabilitation. This study quantified important aspects of the nonlinear neuro-mechanical dynamics underlying unimpaired human walking, which will inform the development of effective approaches to robot-aided locomotor rehabilitation, exploiting natural dynamics in a minimally-encumbering way. 2024-01-30T21:35:09Z 2024-01-30T21:35:09Z 2022 2024-01-30T21:25:54Z Article http://purl.org/eprint/type/JournalArticle 1534-4320 1558-0210 https://hdl.handle.net/1721.1/153428 Lee, Jongwoo, Huber, Meghan E. and Hogan, Neville. 2022. "Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot." IEEE Transactions on Neural Systems and Rehabilitation Engineering, 30. en 10.1109/tnsre.2022.3155770 IEEE Transactions on Neural Systems and Rehabilitation Engineering Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) IEEE |
| spellingShingle | Biomedical Engineering General Neuroscience Internal Medicine Rehabilitation Lee, Jongwoo Huber, Meghan E. Hogan, Neville Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot |
| title | Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot |
| title_full | Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot |
| title_fullStr | Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot |
| title_full_unstemmed | Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot |
| title_short | Gait Entrainment to Torque Pulses From a Hip Exoskeleton Robot |
| title_sort | gait entrainment to torque pulses from a hip exoskeleton robot |
| topic | Biomedical Engineering General Neuroscience Internal Medicine Rehabilitation |
| url | https://hdl.handle.net/1721.1/153428 |
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