Data underlying the publication: Neglected physical human-robot interaction may explain variable outcomes in gait neurorehabilitation research

During gait neurorehabilitation, many factors influence the quality of gait patterns, particularly the chosen body-weight support (BWS) device. Consequently, robotic BWS devices play a key role in gait rehabilitation of people with neurological disorders. The device transparency, support force vector direction and attachment to the harness vary widely across existing robotic BWS devices, but the influence of these factors on the production of gait remains unknown. As this information is critical to design an optimal BWS, we systematically studied these determinants in this work. With a highly transparent device and a conventional harness, we found that healthy subjects select a small backward force when asked for optimal BWS conditions. This unexpected finding challenges the view that during human-robot interactions, humans predominantly optimize energy efficiency. Instead, they might seek to increase their feeling of stability and safety. We also demonstrate that the location of the attachment points on the harness strongly impacts gait patterns, while harness attachment is hardly reported in literature. Our results establish new principles for the design of BWS devices and personalization of BWS settings for gait neurorehabilitation.

在步态神经康复过程中，诸多因素可影响步态模式的质量，其中尤为关键的是所选用的体重支持（Body-Weight Support, BWS）装置。因此，机器人式体重支持装置在神经系统疾病患者的步态康复中发挥着关键作用。现有各类机器人式BWS装置在装置透明度、支撑力矢量方向以及与康复吊带（harness）的连接方式上存在显著差异，但上述因素对步态生成的影响仍未明确。由于此类信息对于设计最优BWS装置至关重要，本研究系统性地探究了这些影响因素。借助一款高透明度装置与常规康复吊带，我们发现健康受试者在被要求确定最优BWS工况时，会选择较小的向后作用力。这一意外发现挑战了“人机交互过程中人类主要以优化能量效率为目标”的观点，提示人类或许更倾向于提升自身的稳定感与安全感。本研究还证实，康复吊带上的连接点位置会对步态模式产生强烈影响，而现有文献中极少提及吊带连接相关的研究。我们的研究结果为步态神经康复领域的BWS装置设计以及BWS参数个性化设置提供了全新的设计原则。