调整外骨骼锚点位置可显著降低髋部肌肉负荷与能耗。
Impact of a Lower Limb Exosuit Anchor Points on Energetics and Biomechanics
- 通过改变膝部锚点位置，优化力传递路径。
- 髋屈肌激活降低10.21%，代谢消耗减少18.45%。
- 效果因人而异，需个性化适配设计。
锚点位置是外骨骼设计中关键但常被忽视的环节，它决定了作用力与人体的交互方式。本研究分析了不同锚点位置对步态运动学、肌肉激活和能量消耗的影响。11名受试者佩戴XoSoft外骨骼，在五种配置下进行实验，使用基于惯性测量单元的动作追踪系统、肌电传感器及呼吸面罩测量代谢率。结果表明，当膝部锚点置于后侧、髋部锚点保持前侧时，髋屈肌激活最多降低10.21%，代谢消耗最多减少18.45%。即使仅辅助髋关节，所有配置仍影响膝踝关节运动学。无任一配置在所有受试者中表现最优，提示需个性化设计。研究强调锚点位置对效率与效果有显著影响，但最佳位置具个体差异，需结合个体肌骨模型进一步验证。
原文摘要 · Abstract (English)
Anchor point placement is a crucial yet often overlooked aspect of exosuit design since it determines how forces interact with the human body. This work analyzes the impact of different anchor point positions on gait kinematics, muscular activation and energetic consumption. A total of six experiments were conducted with 11 subjects wearing the XoSoft exosuit, which assists hip flexion in five configurations. Subjects were instrumented with an IMU-based motion tracking system, EMG sensors, and a mask to measure metabolic consumption. The results show that positioning the knee anchor point on the posterior side while keeping the hip anchor on the anterior part can reduce muscle activation in the hip flexors by up to 10.21\% and metabolic expenditure by up to 18.45\%. Even if the only assisted joint was the hip, all the configurations introduced changes also in the knee and ankle kinematics. Overall, no single configuration was optimal across all subjects, suggesting that a personalized approach is necessary to transmit the assistance forces optimally. These findings emphasize that anchor point position does indeed have a significant impact on exoskeleton effectiveness and efficiency. However, these optimal positions are subject-specific to the exosuit design, and there is a strong need for future work to tailor musculoskeletal models to individual characteristics and validate these results in clinical populations.
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