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Biomechanics of Exoskeleton-Assisted Treadmill Walking
Summary
Exoskeleton-assisted treadmill walking alters natural gait biomechanics, particularly at the ankle, hip, and knee. High speeds and no body weight support (BWS) best replicate free walking.
Area of Science:
- Biomechanics
- Robotics
- Human-Computer Interaction
Background:
- Treadmill-based exoskeletons offer therapeutic benefits but may alter natural walking.
- Assessing gait deviations under varying assistive parameters is crucial for optimizing exoskeleton use.
Purpose of the Study:
- To evaluate the biomechanics of exoskeleton-assisted treadmill walking compared to free gait.
- To investigate the influence of Body Weight Support (BWS), Gait Speed (GS), and Guidance Force (GF) on gait parameters.
Main Methods:
- Five healthy participants walked on a treadmill under free gait conditions and with the Lokomat gait trainer.
- Exoskeleton assistance parameters (BWS, GS, GF) were systematically varied.
Main Results:
- Hip and knee joint kinematics were significantly influenced by BWS and GS, with limited effects from GF.
- Ankle joint kinematics and muscle activity were altered across all tested robot parameter combinations.
- Hip and knee alterations were more pronounced at low GS and with BWS compared to free gait.
Conclusions:
- Exoskeleton-assisted treadmill walking can deviate from natural free gait, especially at the ankle, hip, and knee.
- Optimal resemblance to free gait is achieved at high gait speeds and without body weight support.
- Findings guide the adjustment of exoskeleton parameters to minimize gait alterations.
