Study on the influence of wearable lower limb exoskeleton on gait characteristics_Journal of Biomedical Engineering

Authors：

 ZHANG Junxia ^1,2 , CAI Yunhong ^1,2 , LIU Qi ^1,2

1. School of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China;
2. Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, Tianjin University of Science and Technology, Tianjin 300222, China;

Corresponding author：

ZHANG Junxia, Email: zjx@tust.edu.cn

Keywords：

lower limb exoskeleton; gait; human-machine coupling

DOI：

10.7507/1001-5515.201812021

Video：

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The purpose of this paper was to investigate the effects of wearable lower limb exoskeletons on the kinematics and kinetic parameters of the lower extremity joints and muscles during normal walking, aiming to provide scientific basis for optimizing its structural design and improving its system performance. We collected the walking data of subjects without lower limb exoskeleton and selected the joint angles in sagittal plane of human lower limbs as driving data for lower limb exoskeleton simulation analysis. Anybody (the human biomechanical analysis software) was used to establish the human body model (the human body model without lower limb exoskeleton) and the man-machine system model (the lower limb exoskeleton model). The kinematics parameters (joint force and joint moment) and muscle parameters (muscle strength, muscle activation, muscle contraction velocity and muscle length) under two situations were compared. The experimental result shows that walking gait after wearing the lower limb exoskeleton meets the normal gait, but there would be an occasional and sudden increase in muscle strength. The max activation level of main lower limb muscles were all not exceeding 1, in another word the muscles did not appear fatigue and injury. The highest increase activation level occurred in rectus femoris (0.456), and the lowest increase activation level occurred in semitendinosus (0.013), which means the lower limb exoskeletons could lead to the fatigue and injury of semitendinosus. The results of this study illustrate that to avoid the phenomenon of sudden increase of individual muscle force, the consistency between the length of body segment and the length of exoskeleton rod should be considered in the design of lower limb exoskeleton extremity.

Citation： ZHANG Junxia, CAI Yunhong, LIU Qi. Study on the influence of wearable lower limb exoskeleton on gait characteristics. Journal of Biomedical Engineering, 2019, 36(5): 785-794. doi: 10.7507/1001-5515.201812021 Copy

1.	杨灿军, 陈鹰, 路甬祥. 人机一体化智能系统理论及应用研究探索. 机械工程学报, 2000, 36(6): 42-47.
2.	陈鹰, 杨灿军. 人体智能系统理论与方法. 杭州: 浙江大学出版社, 2006.
3.	Kazerooni H, Racine J L, Huang L H, et al. On the control of Berkeley lower extremity exoskeleton (BLE-EX)//Proceedings and Automation, Barcelona: IEEE, 2005: 4353-4360.
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5.	项忠霞, 赵明, 高飞, 等. 一种外骨骼式康复机器人训练效果仿真. 天津大学学报: 自然科学与工程技术版, 2016, 49(7): 695-701.
6.	单丽君, 胡忠安. 基于 AnyBody 的髋关节康复训练肌肉力的分析. 大连交通大学学报, 2014, 35(1): 50-52.
7.	钱竞光, 宋雅伟, 叶强, 等. 步行动作的生物力学原理及其步态分析. 南京体育学院学报: 自然科学版, 2006, 5(4): 1-7, 39.
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9.	刘玉娇. 快速力量训练对优势侧与非优势侧腿力量素质影响效果的研究. 西安: 西安体育学院, 2010.
10.	Scott S H, Winter D A. Talocrural and talocalcaneal joint kinematics and kinetics during the stance phase of walking. Journal of Biomechanics, 1991, 24(8): 743-752.
11.	Lee M, Kim J, Son J, et al. Kinematic and kinetic analysis during forward and backward walking. Gait Posture, 2013, 38(4): 674-678.
12.	张峻霞, 蔡运红, 窦树斐. 楼梯行走足底压力与表面肌电参数研究. 医用生物力学, 2018, 33(1): 42-47.
13.	张峻霞, 司莹, 苏海龙, 等. 湿滑环境下第一跖趾关节弯曲对人体行走步态稳定性的影响. 生物医学工程学杂志, 2015, 32(1): 38-42.
14.	丁晨, 王君泽, 高瞻. 基于 AnyBody 的汽车驾驶中人体腿部逆向动力学仿真. 中国生物医学工程学报, 2013, 32(1): 124-128.
15.	谭红, 骆建, 王绍军. 田径运动中肌肉收缩速度力量分析及其训练原理探讨. 西安体育学院学报, 2005, 22(5): 43-46, 53.
16.	侯曼, 仰红慧. 骨骼肌的力-长度-速度三者之间的关系. 中国体育科技, 2005, 41(2): 108-110.
17.	Hatze H. Estimation of myodynamic parameter values from observations on isometrically contracting muscle groups. Eur J Appl Physiol Occup Physiol, 1981, 46(4): 325-338.
18.	Vance T L, Solomonow M, Baratta R, et al. Comparison of isometric and load moving length-tension models of two bicompartmental muscles. IEEE Transactions on Biomedical Engineering, 1994, 41(8): 771-781.
19.	Gordon A M, Huxley A F, Julian F J. The variation in isometric with sarcomere length in vertebrate muscle fibres. J Physiol, 1966, 184(1): 170-192.
20.	丁玉兰. 人机工程学. 北京: 北京理工大学出版社, 1991: 34-56.

1. 杨灿军, 陈鹰, 路甬祥. 人机一体化智能系统理论及应用研究探索. 机械工程学报, 2000, 36(6): 42-47.
2. 陈鹰, 杨灿军. 人体智能系统理论与方法. 杭州: 浙江大学出版社, 2006.
3. Kazerooni H, Racine J L, Huang L H, et al. On the control of Berkeley lower extremity exoskeleton (BLE-EX)//Proceedings and Automation, Barcelona: IEEE, 2005: 4353-4360.
4. McGibbon C A, Brandon S C E, Brookshaw M. Effects of an over-ground exoskeleton on external knee moments during stance phase of gait in healthy adults. Knee, 2017, 24(5): 977-993.
5. 项忠霞, 赵明, 高飞, 等. 一种外骨骼式康复机器人训练效果仿真. 天津大学学报: 自然科学与工程技术版, 2016, 49(7): 695-701.
6. 单丽君, 胡忠安. 基于 AnyBody 的髋关节康复训练肌肉力的分析. 大连交通大学学报, 2014, 35(1): 50-52.
7. 钱竞光, 宋雅伟, 叶强, 等. 步行动作的生物力学原理及其步态分析. 南京体育学院学报: 自然科学版, 2006, 5(4): 1-7, 39.
8. Siemienski A. Soft saturation, an idea for load sharing between muscles, application to the study of human locomotion//Capp ozzo A, Marchetti M, Tosi V. Proceedings of the Symposium ‘Biolocomotion: a century of research using moving pictures’, 1992: 293-303.
9. 刘玉娇. 快速力量训练对优势侧与非优势侧腿力量素质影响效果的研究. 西安: 西安体育学院, 2010.
10. Scott S H, Winter D A. Talocrural and talocalcaneal joint kinematics and kinetics during the stance phase of walking. Journal of Biomechanics, 1991, 24(8): 743-752.
11. Lee M, Kim J, Son J, et al. Kinematic and kinetic analysis during forward and backward walking. Gait Posture, 2013, 38(4): 674-678.
12. 张峻霞, 蔡运红, 窦树斐. 楼梯行走足底压力与表面肌电参数研究. 医用生物力学, 2018, 33(1): 42-47.
13. 张峻霞, 司莹, 苏海龙, 等. 湿滑环境下第一跖趾关节弯曲对人体行走步态稳定性的影响. 生物医学工程学杂志, 2015, 32(1): 38-42.
14. 丁晨, 王君泽, 高瞻. 基于 AnyBody 的汽车驾驶中人体腿部逆向动力学仿真. 中国生物医学工程学报, 2013, 32(1): 124-128.
15. 谭红, 骆建, 王绍军. 田径运动中肌肉收缩速度力量分析及其训练原理探讨. 西安体育学院学报, 2005, 22(5): 43-46, 53.
16. 侯曼, 仰红慧. 骨骼肌的力-长度-速度三者之间的关系. 中国体育科技, 2005, 41(2): 108-110.
17. Hatze H. Estimation of myodynamic parameter values from observations on isometrically contracting muscle groups. Eur J Appl Physiol Occup Physiol, 1981, 46(4): 325-338.
18. Vance T L, Solomonow M, Baratta R, et al. Comparison of isometric and load moving length-tension models of two bicompartmental muscles. IEEE Transactions on Biomedical Engineering, 1994, 41(8): 771-781.
19. Gordon A M, Huxley A F, Julian F J. The variation in isometric with sarcomere length in vertebrate muscle fibres. J Physiol, 1966, 184(1): 170-192.
20. 丁玉兰. 人机工程学. 北京: 北京理工大学出版社, 1991: 34-56.

Journal of Biomedical Engineering

Study on the influence of wearable lower limb exoskeleton on gait characteristics

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