分析外骨骼辅助行走时个体运动适应的动态变化规律
Identifying the Key Biomechanical Features of Movement Adaptation during Exoskeleton-Assisted Locomotion
- 通过追踪步态生物力学变量变化，揭示个体化适应策略
- 九名受试者中适应时间与模式差异显著，代谢响应不收敛
- 强调需从个体和时间维度理解外骨骼使用中的适应机制
目前对人类在使用外骨骼辅助行走时的自然适应行为——特别是个体差异和时间演化特征——仍缺乏深入理解。本研究通过分析九名健康受试者在三种条件下（无外骨骼、外骨骼踝关节主动助力、外骨骼零扭矩）的跑步机行走数据，考察下肢运动学、关节间协调性及单位运输能耗（MCoT）的群体与个体层面变化。结果表明，适应过程是渐进且高度个体化的，各参与者在收敛时间和运动模式上存在显著差异；下肢各关节的运动学适应不同步，摆动相波动更大；代谢反应呈现异质性且常不收敛，暴露了文献中普遍采用稳态假设的局限性。研究强调必须从个体和时间演化角度理解外骨骼使用中的适应动态。
原文摘要 · Abstract (English)
The understanding of natural human adaptation during exoskeleton-assisted locomotion - particularly individual differences in adaptation behaviors and temporal progression - remains limited. In this work, we investigate temporal evolution of biomechanical variables to uncover participant-specific adaptation strategies across different exoskeleton-assisted locomotion scenarios. Nine healthy participants performed treadmill walking under three conditions: without an exoskeleton, with exoskeleton active ankle assistance, and with exoskeleton zero-torque. Lower limb kinematics, inter-joint coordination, and metabolic cost of transport (MCoT) were analyzed at both the group and individual levels. Results indicate that adaptation is gradual and highly individualized, with substantial variability in convergence timing and movement patterns across participants. Kinematic adaptation occurred asynchronously across lower limb, with larger fluctuations during the swing phase. Metabolic responses were heterogeneous and often non-convergent, highlighting the limitations of steady-state assumptions commonly adopted in the literature. These findings emphasize the importance of individual-level, temporal evolution analyses for understanding adaptation dynamics in exoskeleton use.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。