Effect of External Damping on Ankle Motion During the Swing Phase of Walking

Jategaonkar, Chinmay; Vashista, Vineet

doi:10.1109/lra.2022.3184781

Cited by 8 publications

(2 citation statements)

References 45 publications

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“…Several studies have recognized the importance of the position of assistance line force and have employed double or multiple drive cables to assist multidimensional ankle motion (Table 1 ). These drive cables are positioned in the anterior-posterior position of the ankle joint for ankle plantar/dorsiflexion and the medial-lateral position for inversion/eversion [ 37 , 39 , 40 ], particularly in patients with cerebral palsy and stroke [ 41 ]. However, the current study has not sufficiently investigated the effect of the force line on multidimensional ankle motion in the one-cable-drive exosuit designed to assist ankle plantarflexion.…”

Section: Introductionmentioning

confidence: 99%

Assistance force-line of exosuit affects ankle multidimensional motion: a theoretical and experimental study

Zhang,

Li,

Sun

2024

J NeuroEngineering Rehabil

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Background The talocrural joint and the subtalar joint are the two major joints of the ankle-joint complex. The position and direction of the exosuit force line relative to these two joint axes can influence ankle motion. We aimed to understand the effects of different force-lines on ankle multidimensional motion. Methods In this article, three assistance force line schemes for ankle exosuits were proposed: perpendicular to the talocrural joint axis (PT), intersecting with the subtalar joint axis (IS), and parallel to the triceps surae (PTS). A theoretical model was proposed to calculate the exosuit’s assistance moment. Seven participants completed four experimental tests of ankle plantarflexion, including three passive motions assisted by the PT, PTS and IS schemes, and one active motion without exosuit assistance (Active). Results The simulation results demonstrated that all three exosuits were able to produce significant moments of ankle plantarflexion. Among these, the PT scheme exhibited the highest moments in all dimensions, followed by the PTS and IS schemes. The experimental findings confirmed the effectiveness of all three exosuit schemes in assisting ankle plantarflexion. Additionally, as the assistive force lines approached the subtalar joint, there was a decrease in ankle motion assisted by the exosuits in non-plantarflexion directions, along with a reduction in the average distance of ankle angle curves relative to active ankle motion. Furthermore, the linear correlation coefficients between inversion and plantarflexion, adduction and plantarflexion, and adduction and inversion gradually converged toward active ankle plantarflexion motion. Conclusions Our research indicates that the position of the exosuit force line to the subtalar joint has a significant impact on ankle inversion and adduction. Among all three schemes, the IS, which has the closest distance to the subtalar joint axes, has the greatest kinematic similarity to active ankle plantarflexion and might be a better choice for ankle assistance and rehabilitation.

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Section: Introductionmentioning

confidence: 99%

Assistance force-line of exosuit affects ankle multidimensional motion: a theoretical and experimental study

Zhang,

Li,

Sun

2024

J NeuroEngineering Rehabil

View full text Add to dashboard Cite

show abstract

“…Several studies have recognized the importance of the position of assistance line-force and have employed double or multiple cable drives to assist multidimensional ankle motion [26,34]. These cable drives are positioned in the anterior-posterior position of the ankle joint for ankle plantar/dorsiflexion and in the medial-lateral position for inversion/eversion [35][36][37], particularly in patients with cerebral palsy and stroke [38]. However, the current study has not sufficiently investigated the effect of force line on the multidimensional ankle motion in the one-cable-drive exosuit designed to assist with plantar flexion.…”

Section: Introductionmentioning

confidence: 99%

Assistance Force-line of Exosuit Affects Ankle Multidimensional Motion: A Theoretical and Experimental Study

Zhang

Liu

Sun

2023

Preprint

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Background: The talocrural joint and the subtalar joint are the two major joints of the ankle-joint complex. The position and direction of the exosuit force line relative to these two joint axes can influence ankle motion. We aimed to understand the effects of different force-lines on ankle multidimensional motion. Methods: In this article, three assistance force line schemes for ankle exosuits were proposed: perpendicular to the talocrural joint axis (PT), intersecting with the subtalar joint axis (IS), and parallel to the triceps surae (PTS). A theoretical model was proposed to calculate the exosuit's assistance moment. Seven participants completed four experimental tests of ankle plantar flexion, including three passive motions assisted by the PT, PTS, and IS, and one active motion without exosuit assistance. Results: The simulation results showed that all three exosuit schemes produced considerable ankle plantarflexion moments. Among the three schemes, the PT scheme generated the highest moments in all three dimensions, followed by the PTS and IS schemes. The experimental findings revealed that there was no significant difference in the angle of plantarflexion between passive and active plantarflexion (P < 0.05). However, there was an increase in the average peak angle of ankle inversion and adduction compared to no assistance, with the increment of approximately 21.07°, 6.57°, and 2.41° for inversion and 8.29°, 2.65°, and 0.33° for adduction, respectively. Our study demonstrated that all three exosuit schemes were beneficial for ankle plantar flexion. The IS scheme had the least effect on ankle inversion/eversion and adduction/abduction and was most similar to active ankle plantarflexion in all three directions compared to the other two schemes. Conclusions: Our research indicates that the position of the exosuit force line to the subtalar joint has a significant impact on ankle inversion and adduction. Among all three schemes, the IS, which has almost no effect on the subtalar joint, has the greatest kinematic similarity to active ankle plantarflexion and might be a better choice for ankle assistance and rehabilitation.

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High-Level Framework in Wearable Exosuits Involving Virtual Reality and Human–Robot Intent Interaction for Gait Intervention

Singh,

Shinde,

Faraz

et al. 2024

Discovering the Frontiers of Human-Robot Interaction

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Effect of External Damping on Ankle Motion During the Swing Phase of Walking

Cited by 8 publications

References 45 publications

Assistance force-line of exosuit affects ankle multidimensional motion: a theoretical and experimental study

Assistance force-line of exosuit affects ankle multidimensional motion: a theoretical and experimental study

Assistance Force-line of Exosuit Affects Ankle Multidimensional Motion: A Theoretical and Experimental Study

High-Level Framework in Wearable Exosuits Involving Virtual Reality and Human–Robot Intent Interaction for Gait Intervention

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