Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton

Fasola, Jemina; Vouga, Tristan; Baud, Romain; Bleuler, Hannes; Bouri, Mohamed

doi:10.1109/icorr.2019.8779500

Cited by 17 publications

(9 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The first observation to note is that in this study, none of the participants felt the need to take a step to maintain their balance, with or without the H2. This is consistent with the findings of Fasola et al (2019), which also provided perturbations to young, healthy participants and observed no falls while wearing an exoskeleton. The current findings indicate the H2 mechanical structure and physical human-robot interface via the cuffs appears to provide enough stability to the user to allow for successful balance responses to external perturbations, at least with healthy participants.…”

Section: Effect Of H2 In Response To Perturbationssupporting

confidence: 91%

“…For the 2-min baseline trials, the RMS of the COP and COP velocity over the entire waveforms were obtained for each participant (Prieto et al, 1996;Fasola et al, 2019). For the perturbation trials, a data analysis window of 950 ms, comprised of 200 ms prior to the perturbation onset to 750 ms after the onset, was established.…”

Section: Discussionmentioning

confidence: 99%

“…Moreover, it allows for multiple sensor technologies to be simultaneously used to collect kinematic, force, and neurophysiological data, such as electromyography (EMG) and electroencephalography (EEG); this provides an efficient paradigm with which to study the neural basis of postural control. Studying the responses of healthy individuals wearing lower limb exoskeletons during support surface perturbations can provide important insights and normative data into how humans adapt to postural control while wearing an exoskeleton (Schiffman et al, 2008;Fasola et al, 2019;Ringhof et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Distinct Kinematic and Neuromuscular Activation Strategies During Quiet Stance and in Response to Postural Perturbations in Healthy Individuals Fitted With and Without a Lower-Limb Exoskeleton

Layne

Malaya

Ravindran

et al. 2022

Front. Hum. Neurosci.

View full text Add to dashboard Cite

Many individuals with disabling conditions have difficulty with gait and balance control that may result in a fall. Exoskeletons are becoming an increasingly popular technology to aid in walking. Despite being a significant aid in increasing mobility, little attention has been paid to exoskeleton features to mitigate falls. To develop improved exoskeleton stability, quantitative information regarding how a user reacts to postural challenges while wearing the exoskeleton is needed. Assessing the unique responses of individuals to postural perturbations while wearing an exoskeleton provides critical information necessary to effectively accommodate a variety of individual response patterns. This report provides kinematic and neuromuscular data obtained from seven healthy, college-aged individuals during posterior support surface translations with and without wearing a lower limb exoskeleton. A 2-min, static baseline standing trial was also obtained. Outcome measures included a variety of 0 dimensional (OD) measures such as center of pressure (COP) RMS, peak amplitude, velocities, pathlength, and electromyographic (EMG) RMS, and peak amplitudes. These measures were obtained during epochs associated with the response to the perturbations: baseline, response, and recovery. T-tests were used to explore potential statistical differences between the exoskeleton and no exoskeleton conditions. Time series waveforms (1D) of the COP and EMG data were also analyzed. Statistical parametric mapping (SPM) was used to evaluate the 1D COP and EMG waveforms obtained during the epochs with and without wearing the exoskeleton. The results indicated that during quiet stance, COP velocity was increased while wearing the exoskeleton, but the magnitude of sway was unchanged. The OD COP measures revealed that wearing the exoskeleton significantly reduced the sway magnitude and velocity in response to the perturbations. There were no systematic effects of wearing the exoskeleton on EMG. SPM analysis revealed that there was a range of individual responses; both behaviorally (COP) and among neuromuscular activation patterns (EMG). Using both the OD and 1D measures provided a more comprehensive representation of how wearing the exoskeleton impacts the responses to posterior perturbations. This study supports a growing body of evidence that exoskeletons must be personalized to meet the specific capabilities and needs of each individual end-user.

show abstract

Section: Effect Of H2 In Response To Perturbationssupporting

confidence: 91%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distinct Kinematic and Neuromuscular Activation Strategies During Quiet Stance and in Response to Postural Perturbations in Healthy Individuals Fitted With and Without a Lower-Limb Exoskeleton

Layne

Malaya

Ravindran

et al. 2022

Front. Hum. Neurosci.

View full text Add to dashboard Cite

show abstract

“…In a previous study, we observed how young healthy participants adapted their postural control strategies when wearing a passive exoskeleton (Fasola et al, 2019). This device, called INSPIIRE (see Figure 1A), has the same kinematic constraints as TWIICE One, and fully curved foot soles, see Figure 1F.…”

Section: Bioinspired Approach: Learn From a Passive Exoskeletonmentioning

confidence: 94%

“…The ankle joints are locked at 90 • . To match the experimental conditions of the passive exoskeleton (Fasola et al, 2019), the foot soles profile has been modified. It is then fully curved (no flat part in the middle) to prevent passive postural stability ( Figure 1E).…”

Section: Postural Control Framework Lower Limb Exoskeleton "Twiice One"mentioning

confidence: 99%

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

et al. 2020

Self Cite

View full text Add to dashboard Cite

Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from interacting efficiently with the environment. In a previous study, a bio-inspired controller was developed to allow dynamic standing balance for such exoskeletons. It was however only tested on the device without any user. This work describes and evaluates a new controller that extends this previous one with an online model compensation, and the contribution of the hip joint against strong perturbations. In addition, both controllers are tested with the exoskeleton TWIICE One, worn by a complete spinal cord injury pilot. Their performances are compared by the mean of three tasks: standing quietly, resisting external perturbations, and lifting barbells of increasing weight. The new controller exhibits a similar performance for quiet standing, longer recovery time for dynamic perturbations but better ability to sustain prolonged perturbations, and higher weightlifting capability.

show abstract

Neurophysiological Support of Motor Control in “Hybrid” Postures. Literature Review

Babanov

Biryukova

2021

Neurosci Behav Physi

View full text Add to dashboard Cite

Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton

Cited by 17 publications

References 21 publications

Distinct Kinematic and Neuromuscular Activation Strategies During Quiet Stance and in Response to Postural Perturbations in Healthy Individuals Fitted With and Without a Lower-Limb Exoskeleton

Distinct Kinematic and Neuromuscular Activation Strategies During Quiet Stance and in Response to Postural Perturbations in Healthy Individuals Fitted With and Without a Lower-Limb Exoskeleton

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

Neurophysiological Support of Motor Control in “Hybrid” Postures. Literature Review

Contact Info

Product

Resources

About