Unilateral stiffness modulation with a robotic hip exoskeleton elicits adaptation during gait

Price, Mark; Abdikadirova, Banu; Locurto, Dominic; Jaramillo, Jonaz Moreno; Cline, Nicholas; Hoogkamer, Wouter; Huber, Meghan E.

doi:10.1109/iros47612.2022.9981067

Cited by 6 publications

(8 citation statements)

References 19 publications

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“…Compared to our previous unilateral stiffness controller [14], the bilateral configuration of the exoskeleton induced larger immediate changes in step length asymmetry. From 3A, the initial asymmetry in step length was ∼ −4% during ON-Early condition, while the unilateral configuration only induced an asymmetry of ∼ −2%.…”

Section: A Behavioral Comparisons In Unilateral Vs Bilateral Asymmetr...contrasting

confidence: 72%

“…This configuration allows the exoskeleton and human joint kinematics to be quantified independently. This method builds on our earlier work in [14] creating accurate 3D models with a unilateral hip exoskeleton.…”

Section: F Data Processingmentioning

confidence: 99%

“…The hip exoskeleton used in this study was a bilateral configuration of the exoskeleton used in [14] (Fig. 1A).…”

Section: B Hrsl Hip Exoskeletonmentioning

confidence: 99%

“…In prior work, we identified behavioral signatures of neural adaptation to unilateral asymmetric stiffness applied with a hip exoskeleton [14]. Specifically, returns to baseline behavior and post-intervention after-effects were observed in spatiotemporal measures of gait.…”

Section: Introductionmentioning

confidence: 99%

“…The purpose of the present study was to investigate whether applying a bilateral asymmetric stiffness using a hip exoskeleton elicits neural adaptation towards symmetric gait. Instead of only applying a positive stiffness to one hip joint as in prior work [14], a positive stiffness was applied to one hip joint and a negative stiffness on the other to a induce larger spatial gait asymmetry (Fig. 1A-C).…”

Section: Introductionmentioning

confidence: 99%

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

Abdikadirova

Price

Jaramillo

et al. 2023

Preprint

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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 the 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.

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Section: A Behavioral Comparisons In Unilateral Vs Bilateral Asymmetr...contrasting

confidence: 72%

Section: F Data Processingmentioning

confidence: 99%

“…The hip exoskeleton used in this study was a bilateral configuration of the exoskeleton used in [14] (Fig. 1A).…”

Section: B Hrsl Hip Exoskeletonmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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

Abdikadirova

Price

Jaramillo

et al. 2023

Preprint

Self Cite

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Gait adaptation to asymmetric hip stiffness applied by a robotic exoskeleton

Abdikadirova,

Price,

Moreno Jaramillo

et al. 2023

Preprint

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Wearable exoskeletons show significant potential for improving gait impairments, such as interlimb asymmetry. However, a more profound understanding of whether exoskeletons are capable of eliciting neural adaptation is needed. This study aimed to characterize how individuals adapt to bilateral asymmetric joint stiffness applied by a hip exoskeleton, similar to split-belt treadmill training. Thirteen unimpaired individuals performed a walking trial on the treadmill while wearing the exoskeleton. The right side of the exoskeleton acted as a positive stiffness torsional spring, pulling the thigh towards the neutral standing position, while the left acted as a negative stiffness spring pulling the thigh away from the neutral standing position. The results showed that this intervention applied by a hip exoskeleton elicited adaptation in spatiotemporal and kinetic gait measures similar to split-belt treadmill training. These results demonstrate the potential of the proposed intervention for retraining symmetric gait.

show abstract

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

Abdikadirova

Price

Jaramillo

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Unilateral stiffness modulation with a robotic hip exoskeleton elicits adaptation during gait

Cited by 6 publications

References 19 publications

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

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

Gait adaptation to asymmetric hip stiffness applied by a robotic exoskeleton

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

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