Abstract
Background The analysis and comprehension of the coordination control of a human gait on common grounds benefit the development of robotic exoskeleton for motor recovery. Objective This study investigated whether the common grounds effect the interjoint coordination of healthy participants with/without exoskeletons in walking. Methods The knee-ankle coordination and hip-knee coordination of 8 healthy participants in a sagittal plane were measured on five kinds of pavements (tiled, carpet, wooden, concrete, and pebbled) with/without exoskeletons, using the continuous relative phase (CRP). The root mean square of CRP (CRPRMS) over each phase of the gait cycle is used to analyze the magnitude of dephasing between joints, and the standard deviation of CRP (CRPSD) in the full gait cycle is used to assess the variability of coordination patterns between joints. Results The CRPHip-Knee/RMS of the carpet pavement with exoskeleton is different from that of other pavements (except the tiled pavement) in the midstance phase. The CRPHip-Knee/RMS on the pebble pavement without exoskeleton is less than that on the other pavements in all phases. The CRPHip-Knee/SD of the pebble pavement without exoskeleton is smaller than that of other pavements. The CRPKnee-Ankle/SD with/without exoskeleton is similar across all pavements. Conclusion The compressive capacity of the pavement and the unevenness of the pavement are important factors that influence interjoint coordination, which can be used as key control elements of gait to adapt different pavements for robotic exoskeleton. Novelty We provide a basis of parameter change of kinematics on different common grounds for the design and optimization of robotic exoskeleton for motor recovery.
Highlights
The robotic exoskeleton provides assistance in time and replicates human walking at some extent
There is a significant difference in the peak ankle dorsiflexion in the midstance between the carpet pavement and the pebble pavement
The peak ankle plantar flexion in the late stance phase has a significant difference between the pebble pavement and the carpet pavement
Summary
The robotic exoskeleton provides assistance in time and replicates human walking at some extent. The interjoint coordination patterns of human walking are applied to the gait control for robotic exoskeleton. The information of walking patterns, such as the coordination pattern between joints, provides basic data to classification and algorithm of gait control [2] for robotic exoskeleton. The analysis and comprehension of the coordination control of a human gait on common grounds benefit the development of robotic exoskeleton for motor recovery. This study investigated whether the common grounds effect the interjoint coordination of healthy participants with/without exoskeletons in walking. The compressive capacity of the pavement and the unevenness of the pavement are important factors that influence interjoint coordination, which can be used as key control elements of gait to adapt different pavements for robotic exoskeleton. We provide a basis of parameter change of kinematics on different common grounds for the design and optimization of robotic exoskeleton for motor recovery
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