Robot-aided Training of Propulsion During Walking: Effects of Torque Pulses Applied to the Hip and Knee Joints During Stance

Abstract

The goal of this study is to evaluate the effects of the application of torque pulses to the hip and knee joint via a robotic exoskeleton in the context of training propulsion during walking. Based on our previous biomechanical study, we formulated a set of conditions of torque pulses applied to the hip and knee joint associated with changes in push-off posture, a component of propulsion. In this work, we quantified the effects of hip/knee torque pulses on metrics of propulsion, specifically hip extension (HE) and normalized propulsive impulse (NPI), in two experiments. In the first experiment, we exposed 16 participants to sixteen conditions of torque pulses during single strides to observe the immediate effects of pulse application. In the second experiment, we exposed 16 participants to a subset of those conditions to observe short-term adaptation effects.During pulse application, NPI aligned with the expected modulation of push-off posture, while HE was modulated in the opposite direction. The timing of the applied pulses, early or late stance, was crucial, as the effects were often in the opposite direction when changing timing condition. Extension torque applied at late stance increased HE in both experiments -range of change in HE: (1.6 ± 0.3 deg, 7.7 ± 0.9 deg), p < 0.001). The same conditions resulted in a negative change in NPI only in the single pulse experiment -change in NPI for knee torque: −2.9 ± 0.3 ms, p < 0.001, no significant change for hip torque. Also, knee extension and flexion torque during early and late stance, respectively, increased NPI during single pulse application -range of change in NPI: (3.4, 4.2) ± 0.3 ms, p < 0.001). During repeated pulse application, NPI increased for late stance flexion torque -range of change in NPI: (4.5, 4.8) ± 2 ms, p < 0.001), but not late stance extension torque. Upon pulse torque removal, we observed positive after-effects in HE in all conditions. While there were no after-effects in NPI significant at the group level, a responder analysis indicated that the majority of the group increased both NPI and HE after pulse application.