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DOI | 10.1126/science.aal5054 |
Human-in-the-loop optimization of exoskeleton assistance during walking | |
Zhang, Juanjuan1,2; Fiers, Pieter1; Witte, Kirby A.1; Jackson, Rachel W.1; Poggensee, Katherine L.1; Atkeson, Christopher G.3; Collins, Steven H.1,3 | |
2017-06-23 | |
发表期刊 | SCIENCE |
ISSN | 0036-8075 |
EISSN | 1095-9203 |
出版年 | 2017 |
卷号 | 356期号:6344页码:1280-1283 |
文章类型 | Article |
语种 | 英语 |
国家 | USA; Singapore |
英文摘要 | Exoskeletons and active prostheses promise to enhance human mobility, but few have succeeded. Optimizing device characteristics on the basis of measured human performance could lead to improved designs. We have developed a method for identifying the exoskeleton assistance that minimizes human energy cost during walking. Optimized torque patterns from an exoskeleton worn on one ankle reduced metabolic energy consumption by 24.2 +/- 7.4% compared to no torque. The approach was effective with exoskeletons worn on one or both ankles, during a variety of walking conditions, during running, and when optimizing muscle activity. Finding a good generic assistance pattern, customizing it to individual needs, and helping users learn to take advantage of the device all contributed to improved economy. Optimization methods with these features can substantially improve performance. |
领域 | 地球科学 ; 气候变化 ; 资源环境 |
收录类别 | SCI-E |
WOS记录号 | WOS:000403881700039 |
WOS关键词 | ENERGETIC COST ; ANKLE ; PROSTHESIS ; DESIGN ; WORK ; GAIT |
WOS类目 | Multidisciplinary Sciences |
WOS研究方向 | Science & Technology - Other Topics |
URL | 查看原文 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://119.78.100.173/C666/handle/2XK7JSWQ/196317 |
专题 | 地球科学 资源环境科学 气候变化 |
作者单位 | 1.Carnegie Mellon Univ, Dept Mech Engn, Pittsburgh, PA 15213 USA; 2.Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore; 3.Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA |
推荐引用方式 GB/T 7714 | Zhang, Juanjuan,Fiers, Pieter,Witte, Kirby A.,et al. Human-in-the-loop optimization of exoskeleton assistance during walking[J]. SCIENCE,2017,356(6344):1280-1283. |
APA | Zhang, Juanjuan.,Fiers, Pieter.,Witte, Kirby A..,Jackson, Rachel W..,Poggensee, Katherine L..,...&Collins, Steven H..(2017).Human-in-the-loop optimization of exoskeleton assistance during walking.SCIENCE,356(6344),1280-1283. |
MLA | Zhang, Juanjuan,et al."Human-in-the-loop optimization of exoskeleton assistance during walking".SCIENCE 356.6344(2017):1280-1283. |
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