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Abduction/Adduction Assistance From Powered Hip Exoskeleton Enables Modulation of User Step Width During Walking
IEEE Transactions on Bio-Medical Engineering
|August 4, 2023
Summary
This study shows that adjusting hip exoskeleton stiffness can control step width during walking. This wearable robotics approach enhances mediolateral balance without affecting gluteus medius activity.
Area of Science:
- Biomechanics
- Robotics
- Human-Computer Interaction
Background:
- Mediolateral balance during walking is crucial for stability.
- Wearable robotics offer potential for gait modulation and balance enhancement.
- Controlling step width via hip exoskeletons has not been previously demonstrated.
Purpose of the Study:
- To investigate the effect of hip exoskeleton admittance control on human step width during walking.
- To explore the relationship between exoskeleton control parameters and gait adjustments.
Main Methods:
- Ten healthy individuals walked on a treadmill wearing a bilateral hip exoskeleton with admittance control.
- Exoskeleton stiffness was varied to influence hip abduction/adduction.
- Step width, step length, and gluteus medius EMG activity were measured.
Main Results:
- Significant modulation of step width was observed with changes in exoskeleton stiffness.
- Step length remained largely unchanged.
- Gluteus medius EMG activity showed no significant alteration despite stiffness variations.
Conclusions:
- Admittance control stiffness in hip exoskeletons is a viable method for modulating step width in normal walking.
- Assistive torque from the exoskeleton, not muscle activity, primarily drives step width changes.
- This research opens avenues for wearable robotics in rehabilitation to improve walking balance.
