Work

Bilateral asymmetric hip stiffness applied by a robotic hip exoskeleton elicits kinematic and kinetic adaptation

Year: 2023

Type: conference-paper

Abstract: Wearable robotic exoskeletons hold great promise for gait rehabilitation as portable, accessible tools. However, a better understanding of the potential for exoskeletons to elicit neural adaptation-a critical component of neurological gait rehabilitation-is needed. In this study, we investigated whether humans adapt to bilateral asymmetric stiffness perturbations applied by a hip exoskeleton, taking inspiration from asymmetry augmentation strategies used in split-belt treadmill training. During walking, we applied torques about the hip joints to repel the thigh away from a neutral position on the left side and attract the thigh toward a neutral position on the right side. Six participants performed an adaptation walking trial on a treadmill while wearing the exoskeleton. The exoskeleton elicited time-varying changes and aftereffects in step length and propulsive/braking ground reaction forces, indicating behavioral signatures of neural adaptation. These responses resemble typical responses to split-belt treadmill training, suggesting that the proposed intervention with a robotic hip exoskeleton may be an effective approach to (re)training symmetric gait.

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/icra48891.2023.10161137

Authors: Banu Abdikadirova, Mark Price, Jonaz Moreno Jaramillo, Wouter Hoogkamer, Meghan E. Huber

Institution: University of Massachusetts Amherst

Language: English

Topic: Prosthetics and Rehabilitation Robotics

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: green

Funders: Amherst College, National Institutes of Health, University of Massachusetts Amherst, National Institute of Biomedical Imaging and Bioengineering