Effect of hip abduction assistance on metabolic cost and balance during human walking

The use of wearable robots to provide walking assistance has rapidly grown over the last decade, with significant advances made in robot design and control methods toward reducing physical effort while performing an activity. The reduction in the walking effort has mainly been achieved by assisting forward progression in the sagittal plane. Human gait, however, is a complex movement that combines motions in three planes, not only the sagittal but also the transverse and frontal planes. In the frontal plane, the hip joint plays a key role in gait, including balance. However, wearable robots targeting this motion have rarely been investigated. In this study, we developed a hip abduction assistance wearable robot by formulating the hypothesis that assistance that mimics the biological hip abduction moment or power could reduce the metabolic cost of walking and affect the dynamic balance. We found that hip abduction assistance with a biological moment second peak mimic profile reduced the m..., , , # Effect of hip abduction assistance on metabolic cost and balance during human walking [https://doi.org/10.5061/dryad.8gtht76vq](https://doi.org/10.5061/dryad.8gtht76vq) J. Park, et.al. prepared by Juneil Park last updated: August, 2022 Data are provided as a .mat file with the following name: Hip\_ABD.mat This MATLAB file provides the time series of data from tethered system, balance-related parameters, spatio-temporal parameters and metabolic cost for each participant and condition. To access the data, type the following into the MATLAB command line: load Hip\_ABD.mat Loading this .mat file will give access to the following data: 1. .sub# , # 1, 2, ... 7. Substructure for data of Subject X 2. .NW / .MFMP / .PFMP / .MSMP / .PSMP : Substructure for data of each profile 2-1) .characteristic: .characteristic contained information about height, body mass and age of each participant. 3-1) ctl\_param power: mechanical power delivered by exosuit (W/kg) ref\_force\_R: re...近十年来，用于步行辅助的穿戴式机器人（wearable robots）研究发展迅猛，在机器人设计与控制方法领域取得了显著进展，旨在降低活动过程中的体力消耗。当前步行体力消耗的降低主要通过在矢状面（sagittal plane）辅助向前行进实现。然而，人类步态是一种复杂的多平面运动，不仅涉及矢状面，还涵盖横断面（transverse plane）与额状面（frontal plane）。在额状面中，髋关节在步态维持与平衡调控中发挥关键作用，但针对该运动平面的穿戴式机器人却鲜有研究。本研究提出假设：模拟生物髋关节外展力矩或功率的辅助模式，可降低步行的代谢成本并影响动态平衡，并据此开发了一款髋关节外展辅助穿戴式机器人。研究发现，采用模拟生物力矩第二峰值轮廓的髋关节外展辅助模式，可降低步行的代谢成本……（原文未完成）。 # 人类步行中髋关节外展辅助对代谢成本与平衡的影响 [https://doi.org/10.5061/dryad.8gtht76vq](https://doi.org/10.5061/dryad.8gtht76vq) J. Park 等，由Juneil Park整理，最后更新于2022年8月。 本数据集以.mat格式文件提供，文件名为Hip_ABD.mat。 该MATLAB文件包含了所有受试者与各实验条件下的系带系统时间序列数据、平衡相关参数、时空参数以及代谢成本数据。 在MATLAB命令行中输入以下指令即可获取数据：load Hip_ABD.mat 加载该.mat文件后可获取以下数据： 1. .sub#，即编号1至7的子结构，对应受试者X的数据集 2. .NW / .MFMP / .PFMP / .MSMP / .PSMP：各辅助模式的子结构 2-1) .characteristic：包含每位受试者的身高、体重与年龄信息 3-1) ctl_param power：外骨骼服（exosuit）输出的机械功率（W/kg） ref_force_R：参考右侧力（ref_force_R）……（原文未完成）