Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses
Autor(a) principal: | |
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Data de Publicação: | 2024 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://hdl.handle.net/1822/89586 |
Resumo: | Lower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that cause adverse effects and high abandonment rates. This study aims to assess and compare, in a holistic approach, human-robot joint misalignment and gait kinematics in three fixation designs of ankle-foot orthoses (AFOs). These are AFOs with a frontal shin guard (F-AFO), lateral shin guard (L-AFO), and the ankle modulus of the H2 exoskeleton (H2-AFO). An experimental protocol was implemented to assess misalignment, fixation displacement, pressure interactions, user-perceived comfort, and gait kinematics during walking with the three AFOs. The F-AFO showed reduced vertical misalignment (peak of 1.37 ± 0.90 cm, p-value < 0.05), interactions (median pressures of 0.39–3.12 kPa), and higher user-perceived comfort (p-value < 0.05) when compared to H2-AFO (peak misalignment of 2.95 ± 0.64 and pressures ranging from 3.19 to 19.78 kPa). F-AFO also improves the L-AFO in pressure (median pressures ranging from 8.64 to 10.83 kPa) and comfort (p-value < 0.05). All AFOs significantly modified hip joint angle regarding control gait (p-value < 0.01), while the H2-AFO also affected knee joint angle (p-value < 0.01) and gait spatiotemporal parameters (p-value < 0.05). Overall, findings indicate that an AFO with a frontal shin guard and a sports shoe is effective at reducing misalignment and pressure at the HRI, increasing comfort with slight changes in gait kinematics. |
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Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthosesExoskeletons and ankle-foot orthosesGait kinematicsHuman-exoskeleton misalignmentHuman-robot physical interactionRehabilitation roboticsLower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that cause adverse effects and high abandonment rates. This study aims to assess and compare, in a holistic approach, human-robot joint misalignment and gait kinematics in three fixation designs of ankle-foot orthoses (AFOs). These are AFOs with a frontal shin guard (F-AFO), lateral shin guard (L-AFO), and the ankle modulus of the H2 exoskeleton (H2-AFO). An experimental protocol was implemented to assess misalignment, fixation displacement, pressure interactions, user-perceived comfort, and gait kinematics during walking with the three AFOs. The F-AFO showed reduced vertical misalignment (peak of 1.37 ± 0.90 cm, p-value < 0.05), interactions (median pressures of 0.39–3.12 kPa), and higher user-perceived comfort (p-value < 0.05) when compared to H2-AFO (peak misalignment of 2.95 ± 0.64 and pressures ranging from 3.19 to 19.78 kPa). F-AFO also improves the L-AFO in pressure (median pressures ranging from 8.64 to 10.83 kPa) and comfort (p-value < 0.05). All AFOs significantly modified hip joint angle regarding control gait (p-value < 0.01), while the H2-AFO also affected knee joint angle (p-value < 0.01) and gait spatiotemporal parameters (p-value < 0.05). Overall, findings indicate that an AFO with a frontal shin guard and a sports shoe is effective at reducing misalignment and pressure at the HRI, increasing comfort with slight changes in gait kinematics.This work was supported in part by the Fundação para a Ciência e Tecnologia (FCT) under the Stimulus of Scientific Employment with the grant 2020.03393.CEECIND and the PhD Studentship with the grant 2023.00938.BD, under the national support to R&D units grant, through the reference projects UIDB/04436/2020 and UIDP/04436/2020, and by the FEDER Funds through the COMPETE 2020—Programa Operacional Competitividade e Internacionalização (POCI) and P2020 with the Reference Project SmartOs Grant POCI-01-0247-FEDER-039868. The third and fourth authors would like to acknowledge the support received trough https://doi.org/10.54499/UIDB/05913/2020. The fifth author would like to acknowledge the support received through IDMEC, under LAETA, project UIDB/50022/2020.Multidisciplinary Digital Publishing Institute (MDPI)Universidade do MinhoAndrade, Ricardo Luís NunesFigueiredo, JoanaFonseca, PedroVilas-Boas, João P.Silva, Miguel T.Santos, Cristina2024-012024-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/1822/89586eng1424-82201424-822010.3390/s240102463820311024638203110https://www.mdpi.com/1424-8220/24/1/246info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-16T01:22:30Zoai:repositorium.sdum.uminho.pt:1822/89586Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T04:01:14.021946Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
title |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
spellingShingle |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses Andrade, Ricardo Luís Nunes Exoskeletons and ankle-foot orthoses Gait kinematics Human-exoskeleton misalignment Human-robot physical interaction Rehabilitation robotics |
title_short |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
title_full |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
title_fullStr |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
title_full_unstemmed |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
title_sort |
Human-robot joint misalignment, physical interaction, and gait kinematic assessment in ankle-foot orthoses |
author |
Andrade, Ricardo Luís Nunes |
author_facet |
Andrade, Ricardo Luís Nunes Figueiredo, Joana Fonseca, Pedro Vilas-Boas, João P. Silva, Miguel T. Santos, Cristina |
author_role |
author |
author2 |
Figueiredo, Joana Fonseca, Pedro Vilas-Boas, João P. Silva, Miguel T. Santos, Cristina |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Andrade, Ricardo Luís Nunes Figueiredo, Joana Fonseca, Pedro Vilas-Boas, João P. Silva, Miguel T. Santos, Cristina |
dc.subject.por.fl_str_mv |
Exoskeletons and ankle-foot orthoses Gait kinematics Human-exoskeleton misalignment Human-robot physical interaction Rehabilitation robotics |
topic |
Exoskeletons and ankle-foot orthoses Gait kinematics Human-exoskeleton misalignment Human-robot physical interaction Rehabilitation robotics |
description |
Lower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that cause adverse effects and high abandonment rates. This study aims to assess and compare, in a holistic approach, human-robot joint misalignment and gait kinematics in three fixation designs of ankle-foot orthoses (AFOs). These are AFOs with a frontal shin guard (F-AFO), lateral shin guard (L-AFO), and the ankle modulus of the H2 exoskeleton (H2-AFO). An experimental protocol was implemented to assess misalignment, fixation displacement, pressure interactions, user-perceived comfort, and gait kinematics during walking with the three AFOs. The F-AFO showed reduced vertical misalignment (peak of 1.37 ± 0.90 cm, p-value < 0.05), interactions (median pressures of 0.39–3.12 kPa), and higher user-perceived comfort (p-value < 0.05) when compared to H2-AFO (peak misalignment of 2.95 ± 0.64 and pressures ranging from 3.19 to 19.78 kPa). F-AFO also improves the L-AFO in pressure (median pressures ranging from 8.64 to 10.83 kPa) and comfort (p-value < 0.05). All AFOs significantly modified hip joint angle regarding control gait (p-value < 0.01), while the H2-AFO also affected knee joint angle (p-value < 0.01) and gait spatiotemporal parameters (p-value < 0.05). Overall, findings indicate that an AFO with a frontal shin guard and a sports shoe is effective at reducing misalignment and pressure at the HRI, increasing comfort with slight changes in gait kinematics. |
publishDate |
2024 |
dc.date.none.fl_str_mv |
2024-01 2024-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://hdl.handle.net/1822/89586 |
url |
https://hdl.handle.net/1822/89586 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
1424-8220 1424-8220 10.3390/s24010246 38203110 246 38203110 https://www.mdpi.com/1424-8220/24/1/246 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Multidisciplinary Digital Publishing Institute (MDPI) |
publisher.none.fl_str_mv |
Multidisciplinary Digital Publishing Institute (MDPI) |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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