增加摆动阶段脚与地面间隙的踝关节背屈动力学需求:对辅助设备设计和能量需求的影响。

IF 5.2 2区 医学 Q1 ENGINEERING, BIOMEDICAL Journal of NeuroEngineering and Rehabilitation Pub Date : 2024-06-21 DOI:10.1186/s12984-024-01394-x
Soheil Bajelan, W A Tony Sparrow, Rezaul Begg
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引用次数: 0

摘要

背景:踝关节在调节摆动脚的轨迹以确保安全离地方面通常非常有效,但有关步态周期摆动阶段的踝关节动力学和机械能交换的报道却很少。以前的工作研究了正常行走时的踝关节摆动力学,但随着提供背屈辅助装置的发展,现在有必要了解增加踝关节背屈的最小动力学要求,特别是对于采用能量收集或利用更轻、更低功率的能量源或致动器的装置:方法:利用实时跑步机行走生物反馈技术,通过实验控制摆动阶段的踝关节背屈,从而通过增加踝关节背屈使脚与地面的间隙增加 4 厘米。使用 AnyBody 建模系统估算了摆动阶段的踝关节力矩和背屈肌力。假设仅利用踝关节将脚与地面间隙增加 4 厘米,所需的背屈力矩和肌肉力量将明显高于正常行走对照组:结果:没有证实踝关节力矩在增加背屈时会明显增加,趾尖起动时为 0.02 牛米/公斤,摆动结束时降至零。趾开立后,胫骨前肌肌力从 2 牛/千克显著增加到 4 牛/千克,这是由于与 Soleus 肌肉共同激活的缘故。为了确保挥杆中段脚与地面的间隙增加 4 厘米,估计需要在趾开立后立即释放额外的 0.003 焦耳/千克:这项研究强调了摆动阶段踝关节外翻时踝关节力矩、肌肉力量和能量需求之间的相互作用,为踝关节辅助技术的设计提供了启示。外部设备不需要提供明显更大的踝关节力矩来增加踝关节背屈,但它们应该提供更高的机械动力,以提供快速爆发的能量,从而在达到最小脚间隙事件之前促进快速背屈转换。此外,对于包含人造肌肉或仿人机器人的踝关节相关生物启发装置,其目的是复制自然踝关节生物力学,由于胫骨前肌和距骨肌的共同作用,加入胫骨前肌的辅助力量至关重要。这些设计策略可确保踝关节辅助技术既有效又符合人体运动的生物力学实际情况。
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The ankle dorsiflexion kinetics demand to increase swing phase foot-ground clearance: implications for assistive device design and energy demands.

Background: The ankle is usually highly effective in modulating the swing foot's trajectory to ensure safe ground clearance but there are few reports of ankle kinetics and mechanical energy exchange during the gait cycle swing phase. Previous work has investigated ankle swing mechanics during normal walking but with developments in devices providing dorsiflexion assistance, it is now essential to understand the minimal kinetic requirements for increasing ankle dorsiflexion, particularly for devices employing energy harvesting or utilizing lighter and lower power energy sources or actuators.

Methods: Using a real-time treadmill-walking biofeedback technique, swing phase ankle dorsiflexion was experimentally controlled to increase foot-ground clearance by 4 cm achieved via increased ankle dorsiflexion. Swing phase ankle moments and dorsiflexor muscle forces were estimated using AnyBody modeling system. It was hypothesized that increasing foot-ground clearance by 4 cm, employing only the ankle joint, would require significantly higher dorsiflexion moments and muscle forces than a normal walking control condition.

Results: Results did not confirm significantly increased ankle moments with augmented dorsiflexion, with 0.02 N.m/kg at toe-off reducing to zero by the end of swing. Tibialis Anterior muscle force incremented significantly from 2 to 4 N/kg after toe-off, due to coactivation with the Soleus. To ensure an additional 4 cm mid swing foot-ground clearance, an estimated additional 0.003 Joules/kg is required to be released immediately after toe-off.

Conclusion: This study highlights the interplay between ankle moments, muscle forces, and energy demands during swing phase ankle dorsiflexion, offering insights for the design of ankle assistive technologies. External devices do not need to deliver significantly greater ankle moments to increase ankle dorsiflexion but, they should offer higher mechanical power to provide rapid bursts of energy to facilitate quick dorsiflexion transitions before reaching Minimum Foot Clearance event. Additionally, for ankle-related bio-inspired devices incorporating artificial muscles or humanoid robots that aim to replicate natural ankle biomechanics, the inclusion of supplementary Tibialis Anterior forces is crucial due to Tibialis Anterior and Soleus co-activation. These design strategies ensures that ankle assistive technologies are both effective and aligned with the biomechanical realities of human movement.

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来源期刊
Journal of NeuroEngineering and Rehabilitation
Journal of NeuroEngineering and Rehabilitation 工程技术-工程:生物医学
CiteScore
9.60
自引率
3.90%
发文量
122
审稿时长
24 months
期刊介绍: Journal of NeuroEngineering and Rehabilitation considers manuscripts on all aspects of research that result from cross-fertilization of the fields of neuroscience, biomedical engineering, and physical medicine & rehabilitation.
期刊最新文献
Comparison of synergy extrapolation and static optimization for estimating multiple unmeasured muscle activations during walking. Immersive virtual reality for learning exoskeleton-like virtual walking: a feasibility study. Instrumented assessment of lower and upper motor neuron signs in amyotrophic lateral sclerosis using robotic manipulation: an explorative study. Rest the brain to learn new gait patterns after stroke. Effects of virtual reality rehabilitation after spinal cord injury: a systematic review and meta-analysis.
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