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Invariant hip moment pattern while walking with a robotic hip exoskeleton.

Cara L Lewis¹, Daniel P Ferris

¹Human Adaptation Laboratory, College of Health and Rehabilitation Sciences, Sargent College, Boston University, 635 Commonwealth Avenue, Boston, MA 02215, USA. lewisc@bu.edu

Journal of Biomechanics

|February 22, 2011

Summary

People adapt to robotic hip exoskeletons by reducing muscle effort, maintaining similar joint moments. This allows for consistent gait patterns despite robotic assistance, aiding in rehabilitation and mobility.

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Area of Science:

Biomechanics
Robotics
Human-Computer Interaction

Background:

Robotic lower limb exoskeletons offer potential for gait assistance and rehabilitation.
Understanding human adaptation to these devices is crucial for effective design and use.

Purpose of the Study:

To test the hypothesis that individuals reduce net muscle moments when provided with robotic assistance.
To investigate how robotic hip exoskeleton assistance affects joint moments and angles during walking.

Main Methods:

Eight healthy subjects trained with a robotic hip exoskeleton while walking on a force-measuring treadmill.
The exoskeleton provided hip flexion assistance during a specific phase of the gait cycle.
Calculated root mean squared difference (RMSD) to compare joint moments and angles between powered and unpowered conditions.

Main Results:

The hip exoskeleton provided 27% of the total peak hip flexion moment.
Subjects exhibited nearly identical total hip moment patterns (muscle + exoskeleton) compared to the unpowered condition.
Hip angle patterns differed more than hip moment patterns, with RMSD values of 0.134 for angle and 0.027 for moment (p<0.001).

Conclusions:

Individuals adapt to robotic hip assistance by modulating muscle activity to maintain consistent joint moment patterns.
This adaptation allows for similar overall joint moments despite altered joint angles, supporting the concept of adaptable human gait.
Findings suggest that robotic exoskeletons can be integrated into gait with minimal disruption to the underlying neuromuscular control strategy.