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Motor modules during adaptation to walking in a powered ankle exoskeleton
Daniel A Jacobs1, Jeffrey R Koller2, Katherine M Steele3
1Department of Mechanical Engineering, Temple University, 1947 N. 12th Street, Philadelphia, PA, USA. dajacobs@temple.edu.
Journal of Neuroengineering and Rehabilitation
|January 5, 2018
Summary
Subjects walking in an ankle exoskeleton maintained muscle coordination modules. Adaptation primarily involved adjusting muscle timing, not weighting, with training improving pattern consistency.
Area of Science:
- Biomechanics and Motor Control
- Robotics and Human Augmentation
- Neuroscience and Electrophysiology
Background:
- Muscle recruitment modules are key to understanding coordination during movement.
- Powered exoskeletons may alter muscle coordination patterns during gait.
- Investigating these changes is crucial for optimizing assistive device design.
Purpose of the Study:
- To examine how muscle recruitment modules change during assisted and unassisted walking.
- To analyze alterations in module size, timing, and weighting patterns.
- To understand gait adaptation in response to a powered ankle exoskeleton.
Main Methods:
- Utilized nonnegative matrix factorization (NNMF) on surface electromyography (EMG) data.
- Eight healthy subjects walked in powered and unpowered ankle exoskeletons.
- Analyzed muscle recruitment modules for ten lower limb muscles.
Main Results:
- Six muscle recruitment modules were sufficient for both conditions, indicating preserved module count.
- Module timings and weightings showed significant similarity between powered and unpowered conditions.
- Motor adaptation was predominantly driven by changes in module timing, not weighting.
Conclusions:
- Ankle exoskeleton use preserves the number and coordination of muscle recruitment modules.
- Training enhances the consistency of muscle activation patterns during exoskeleton-assisted walking.
- Adaptation strategies involve modifying muscle activation timings rather than muscle weighting within modules.
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