Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking
Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip join...
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| Veröffentlicht in: | IEEE transactions on neural systems and rehabilitation engineering 2022, Vol.30, p.1203-1212 |
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| creator | van der Kooij, Herman Fricke, Simone S. Veld, Ronald C. van't Prieto, Ander Vallinas Keemink, Arvid Q. L. Schouten, Alfred C. van Asseldonk, Edwin H. F. |
| description | Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low ( |
| doi_str_mv | 10.1109/TNSRE.2022.3172497 |
| format | Article |
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L. ; Schouten, Alfred C. ; van Asseldonk, Edwin H. F.</creator><creatorcontrib>van der Kooij, Herman ; Fricke, Simone S. ; Veld, Ronald C. van't ; Prieto, Ander Vallinas ; Keemink, Arvid Q. L. ; Schouten, Alfred C. ; van Asseldonk, Edwin H. F.</creatorcontrib><description>Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low (<5N) and the effect on the walking pattern was smaller than the within-subject variability during normal walking. Using a non-linear multibody dynamical model of swing leg dynamics, the hip, knee and ankle joint impedance were estimated at three time points during the swing phase for nine subjects walking at a speed of 0.5 m/s. The identified model was well able to predict the experimental responses for the hip and knee, since the mean variance accounted (VAF) for was 99% and 96%, respectively. The ankle lacked a consistent response and the mean VAF of the model fit was only 77%, and therefore the estimated ankle impedance was not reliable. The averaged across-subjects stiffness varied between the three time points within 34-66 and 0-3.5 Nm/rad Nm/rad for the hip and knee joint respectively. The damping varied between 1.9-4.6 and 0.02-0.14 Nms/rad Nms/rad for hip and knee respectively. The developed LOPER has a negligible effect on the unperturbed walking pattern and allows to identify hip and knee impedance during the swing phase.</description><identifier>ISSN: 1534-4320</identifier><identifier>EISSN: 1558-0210</identifier><identifier>DOI: 10.1109/TNSRE.2022.3172497</identifier><identifier>PMID: 35503817</identifier><identifier>CODEN: ITNSB3</identifier><language>eng</language><publisher>United States: IEEE</publisher><subject>Actuators ; Ankle ; Decision making ; Exoskeleton ; Exoskeletons ; Force ; Gait ; Gait training ; Hip ; hip stiffness ; Impedance ; joint impedance ; Joints (anatomy) ; Knee ; knee stiffness ; Leg ; Legged locomotion ; Perturbation ; Perturbation methods ; Prostheses ; Prosthetics ; stiffness ; system identification ; Thigh ; transparency ; Treadmills ; Walking</subject><ispartof>IEEE transactions on neural systems and rehabilitation engineering, 2022, Vol.30, p.1203-1212</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3767-a45cb43c9f90616dad94d71d979e577ceba830610f1bb4de519cc5f491a510da3</citedby><cites>FETCH-LOGICAL-c3767-a45cb43c9f90616dad94d71d979e577ceba830610f1bb4de519cc5f491a510da3</cites><orcidid>0000-0003-1534-2348 ; 0000-0001-7366-2898 ; 0000-0003-3149-6726 ; 0000-0002-1285-2572 ; 0000-0002-7926-3262</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,864,2100,4021,27921,27922,27923</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/35503817$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>van der Kooij, Herman</creatorcontrib><creatorcontrib>Fricke, Simone S.</creatorcontrib><creatorcontrib>Veld, Ronald C. van't</creatorcontrib><creatorcontrib>Prieto, Ander Vallinas</creatorcontrib><creatorcontrib>Keemink, Arvid Q. L.</creatorcontrib><creatorcontrib>Schouten, Alfred C.</creatorcontrib><creatorcontrib>van Asseldonk, Edwin H. F.</creatorcontrib><title>Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking</title><title>IEEE transactions on neural systems and rehabilitation engineering</title><addtitle>TNSRE</addtitle><addtitle>IEEE Trans Neural Syst Rehabil Eng</addtitle><description>Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low (<5N) and the effect on the walking pattern was smaller than the within-subject variability during normal walking. Using a non-linear multibody dynamical model of swing leg dynamics, the hip, knee and ankle joint impedance were estimated at three time points during the swing phase for nine subjects walking at a speed of 0.5 m/s. The identified model was well able to predict the experimental responses for the hip and knee, since the mean variance accounted (VAF) for was 99% and 96%, respectively. The ankle lacked a consistent response and the mean VAF of the model fit was only 77%, and therefore the estimated ankle impedance was not reliable. The averaged across-subjects stiffness varied between the three time points within 34-66 and 0-3.5 Nm/rad Nm/rad for the hip and knee joint respectively. The damping varied between 1.9-4.6 and 0.02-0.14 Nms/rad Nms/rad for hip and knee respectively. The developed LOPER has a negligible effect on the unperturbed walking pattern and allows to identify hip and knee impedance during the swing phase.</description><subject>Actuators</subject><subject>Ankle</subject><subject>Decision making</subject><subject>Exoskeleton</subject><subject>Exoskeletons</subject><subject>Force</subject><subject>Gait</subject><subject>Gait training</subject><subject>Hip</subject><subject>hip stiffness</subject><subject>Impedance</subject><subject>joint impedance</subject><subject>Joints (anatomy)</subject><subject>Knee</subject><subject>knee stiffness</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Perturbation</subject><subject>Perturbation methods</subject><subject>Prostheses</subject><subject>Prosthetics</subject><subject>stiffness</subject><subject>system identification</subject><subject>Thigh</subject><subject>transparency</subject><subject>Treadmills</subject><subject>Walking</subject><issn>1534-4320</issn><issn>1558-0210</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpdkU9v1DAQxS1ERf_AFwAJReLCJVtPbMfxEZVCl1ZQ0SKOlmOPWy_ZeOskqvj2ON1lDz3NaOb3nux5hLwFugCg6vT2-83P80VFq2rBQFZcyRfkCIRoSloBfTn3jJecVfSQHA_DilKQtZCvyCETgrIG5BG5Xjrsx-CDNWOIfRF9cRE2heldcdkjFt9i6Mdiud6gM73F4vOUQn9XjPdY3DzO3fW9GXCW_Tbdnzx4TQ686QZ8s6sn5NeX89uzi_Lqx9fl2aer0jJZy9JwYVvOrPKK1lA74xR3EpySCoWUFlvTsLyhHtqWOxSgrBWeKzACqDPshCy3vi6ald6ksDbpr44m6KdBTHfapDHYDjXwmgnWcpACuZRKgfTcuRa88siNz14ft16bFB8mHEa9DoPFrjM9xmnQVS1UxWhTi4x-eIau4pT6_NNM1aLhFBqWqWpL2RSHIaHfPxConrPTT9npOTu9yy6L3u-sp3aNbi_5H1YG3m2BgIj7tcrnbJhi_wD0IJr7</recordid><startdate>2022</startdate><enddate>2022</enddate><creator>van der Kooij, Herman</creator><creator>Fricke, Simone S.</creator><creator>Veld, Ronald C. van't</creator><creator>Prieto, Ander Vallinas</creator><creator>Keemink, Arvid Q. 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L.</au><au>Schouten, Alfred C.</au><au>van Asseldonk, Edwin H. F.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking</atitle><jtitle>IEEE transactions on neural systems and rehabilitation engineering</jtitle><stitle>TNSRE</stitle><addtitle>IEEE Trans Neural Syst Rehabil Eng</addtitle><date>2022</date><risdate>2022</risdate><volume>30</volume><spage>1203</spage><epage>1212</epage><pages>1203-1212</pages><issn>1534-4320</issn><eissn>1558-0210</eissn><coden>ITNSB3</coden><abstract>Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance during walking has been experimentally assessed, knee and hip joint impedance during walking have not been identified yet. Here we developed and evaluated a lower limb perturbator to identify hip, knee and ankle joint impedance during treadmill walking. The lower limb perturbator (LOPER) consists of an actuator connected to the thigh via rods. The LOPER allows to apply force perturbations to a free-hanging leg, while standing on the contralateral leg, with a bandwidth of up to 39 Hz. While walking in minimal impedance mode, the interaction forces between LOPER and the thigh were low (<5N) and the effect on the walking pattern was smaller than the within-subject variability during normal walking. Using a non-linear multibody dynamical model of swing leg dynamics, the hip, knee and ankle joint impedance were estimated at three time points during the swing phase for nine subjects walking at a speed of 0.5 m/s. The identified model was well able to predict the experimental responses for the hip and knee, since the mean variance accounted (VAF) for was 99% and 96%, respectively. The ankle lacked a consistent response and the mean VAF of the model fit was only 77%, and therefore the estimated ankle impedance was not reliable. The averaged across-subjects stiffness varied between the three time points within 34-66 and 0-3.5 Nm/rad Nm/rad for the hip and knee joint respectively. The damping varied between 1.9-4.6 and 0.02-0.14 Nms/rad Nms/rad for hip and knee respectively. The developed LOPER has a negligible effect on the unperturbed walking pattern and allows to identify hip and knee impedance during the swing phase.</abstract><cop>United States</cop><pub>IEEE</pub><pmid>35503817</pmid><doi>10.1109/TNSRE.2022.3172497</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0003-1534-2348</orcidid><orcidid>https://orcid.org/0000-0001-7366-2898</orcidid><orcidid>https://orcid.org/0000-0003-3149-6726</orcidid><orcidid>https://orcid.org/0000-0002-1285-2572</orcidid><orcidid>https://orcid.org/0000-0002-7926-3262</orcidid><oa>free_for_read</oa></addata></record> |
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| source | DOAJ Directory of Open Access Journals; EZB-FREE-00999 freely available EZB journals |
| subjects | Actuators Ankle Decision making Exoskeleton Exoskeletons Force Gait Gait training Hip hip stiffness Impedance joint impedance Joints (anatomy) Knee knee stiffness Leg Legged locomotion Perturbation Perturbation methods Prostheses Prosthetics stiffness system identification Thigh transparency Treadmills Walking |
| title | Identification of Hip and Knee Joint Impedance During the Swing Phase of Walking |
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