University of Twente Student Theses
Adaptation to exoskeleton balance assistance
Wijkstra, Msc. Marijne (2024) Adaptation to exoskeleton balance assistance.
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| Abstract: | Balance impairment is particularly prevalent among populations with mobility limitations, including elderly individuals, stroke survivors, and patients with incomplete spinal cord injuries. Ankle plantar and dorsiflexion play crucial roles in maintaining balance along the anterior-posterior axis. While exoskeletons have demonstrated efficacy in facilitating walking, integrating balance control has also shown its importance. Investigating adaptation to external perturbations and devices provides valuable insights for improving exoskeleton balance assistance mechanisms. In this study, adaptation to exoskeleton balance assistance was examined using a device that offered plantar flexion assistance to counteract anterior perturbations based on center of mass (COM) velocity. Electromyography recordings from the gastrocnemius medialis, soleus, and tibialis anterior muscles of the left leg, along with COM displacement measurements, were obtained from four participants undergoing a nine-trial walking experimental protocol. Findings revealed that two participants adapted their plantar flexion muscles by reducing muscle effort. However, one participant exhibited inconclusive results due to controller inconsistency, while another showed different outcomes which can be explained by a different walking pattern. Notably, participants did not exhibit adaptation in COM displacement. It is concluded that healthy adults can adapt to exoskeleton balance assistance by reducing plantar flexor muscle activity. This study can be used as a starting point for future research into adaptation to exoskeleton balance assistance. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Programme: | Biomedical Engineering MSc (66226) |
| Link to this item: | https://purl.utwente.nl/essays/98553 |
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