Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics
Neurological disorders and aging induce impaired gait kinematics. Despite recent advances, effective methods using lower-limb exoskeleton robots to restore gait kinematics are as yet limited. In this study, applying virtual stiffness using a hip exoskeleton was investigated as a possible method to g...
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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/1721.1/153429 |
| _version_ | 1811094736420732928 |
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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 | Neurological disorders and aging induce impaired gait kinematics. Despite recent advances, effective methods using lower-limb exoskeleton robots to restore gait kinematics are as yet limited. In this study, applying virtual stiffness using a hip exoskeleton was investigated as a possible method to guide users to change their gait kinematics. With a view to applications in locomotor rehabilitation, either to provide assistance or promote recovery, this study assessed whether imposed stiffness induced changes in the gait pattern during walking; and whether any changes persisted upon removal of the intervention, which would indicate changes in central neuro-motor control. Both positive and negative stiffness induced immediate and persistent changes of gait kinematics. However, the results showed little behavioral evidence of persistent changes in neuro-motor control, not even short-lived aftereffects. In addition, stride duration was little affected, suggesting that at least two dissociable layers exist in the neuro-motor control of human walking. The lack of neuro-motor adaptation suggests that, within broad limits, the central nervous system is surprisingly indifferent to the details of lower limb kinematics. The lack of neuro-motor adaptation also suggests that alternative methods may be required to implement a therapeutic technology to promote recovery. However, the immediate, significant, and reproducible changes in kinematics suggest that applying hip stiffness with an exoskeleton may be an effective assistive technology for compensation. |
| first_indexed | 2024-09-23T16:04:16Z |
| format | Article |
| id | mit-1721.1/153429 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:04:16Z |
| publishDate | 2024 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1534292024-07-12T16:28:11Z Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics 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 Neurological disorders and aging induce impaired gait kinematics. Despite recent advances, effective methods using lower-limb exoskeleton robots to restore gait kinematics are as yet limited. In this study, applying virtual stiffness using a hip exoskeleton was investigated as a possible method to guide users to change their gait kinematics. With a view to applications in locomotor rehabilitation, either to provide assistance or promote recovery, this study assessed whether imposed stiffness induced changes in the gait pattern during walking; and whether any changes persisted upon removal of the intervention, which would indicate changes in central neuro-motor control. Both positive and negative stiffness induced immediate and persistent changes of gait kinematics. However, the results showed little behavioral evidence of persistent changes in neuro-motor control, not even short-lived aftereffects. In addition, stride duration was little affected, suggesting that at least two dissociable layers exist in the neuro-motor control of human walking. The lack of neuro-motor adaptation suggests that, within broad limits, the central nervous system is surprisingly indifferent to the details of lower limb kinematics. The lack of neuro-motor adaptation also suggests that alternative methods may be required to implement a therapeutic technology to promote recovery. However, the immediate, significant, and reproducible changes in kinematics suggest that applying hip stiffness with an exoskeleton may be an effective assistive technology for compensation. 2024-01-30T21:59:57Z 2024-01-30T21:59:57Z 2021 2024-01-30T21:47:30Z Article http://purl.org/eprint/type/JournalArticle 1534-4320 1558-0210 https://hdl.handle.net/1721.1/153429 Lee, Jongwoo, Huber, Meghan E. and Hogan, Neville. 2021. "Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics." IEEE Transactions on Neural Systems and Rehabilitation Engineering, 29. en 10.1109/tnsre.2021.3132621 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 Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics |
| title | Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics |
| title_full | Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics |
| title_fullStr | Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics |
| title_full_unstemmed | Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics |
| title_short | Applying Hip Stiffness With an Exoskeleton to Compensate Gait Kinematics |
| title_sort | applying hip stiffness with an exoskeleton to compensate gait kinematics |
| topic | Biomedical Engineering General Neuroscience Internal Medicine Rehabilitation |
| url | https://hdl.handle.net/1721.1/153429 |
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