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Adaptation to walking with an exoskeleton that assists ankle extension
1Department of Movement and Sport Sciences, Ghent University, Watersportlaan 2, B-9000 Ghent, Belgium. samuel.galle@ugent.be
Gait & Posture
|March 8, 2013
Summary
Subjects quickly adapted to walking with powered ankle-foot exoskeletons, reducing metabolic cost by 16%. This neuromotor adaptation highlights the potential of exoskeletons for assisted ankle extension during push-off.
Area of Science:
- Biomechanics
- Robotics
- Human-Computer Interaction
Background:
- Ankle-foot exoskeletons can assist locomotion.
- Understanding user adaptation to powered exoskeletons is crucial for design.
Purpose of the Study:
- Investigate neuromuscular and metabolic adaptation to bilateral ankle-foot exoskeletons.
- Assess the effect of kinematic control assisting ankle extension during push-off.
Main Methods:
- Nine female subjects walked on a treadmill for 24 minutes with a powered exoskeleton and 4 minutes with an unpowered one.
- Metabolic cost, electromyography (EMG), and kinematics were measured.
- Comparisons were made between unpowered, initial adaptation, and adapted states.
Main Results:
- Metabolic adaptation occurred after 18.5 ± 5.0 minutes.
- Initial use (4 min) reduced metabolic cost by 9% and plantarflexor muscle activity.
- Further metabolic reduction to 16% was observed with constant assistance due to neuromotor adaptation and reduced overall leg muscle activity.
Conclusions:
- Fast adaptation and significant metabolic cost reduction demonstrate the potential of ankle-foot exoskeletons with kinematic control.
- Exoskeletons assisting ankle extension during push-off can enhance walking efficiency.
