Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis
This study assessed the metabolic energy consumption of walking with the external components of a “Muscle-First” Motor Assisted Hybrid Neuroprosthesis (MAHNP), which combines implanted neuromuscular stimulation with a motorized exoskeleton. The “Muscle-First” approach prioritizes generating motion w...
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Format: | Article |
Language: | English |
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Frontiers Media S.A.
2020-12-01
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Series: | Frontiers in Neurorobotics |
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Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2020.588950/full |
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doaj-05861ac800cf42e69c69f22481ba1ec7 |
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record_format |
Article |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ryan-David Reyes Ryan-David Reyes Rudolf Kobetic Mark Nandor Mark Nandor Nathaniel Makowski Nathaniel Makowski Musa Audu Musa Audu Roger Quinn Ronald Triolo Ronald Triolo |
spellingShingle |
Ryan-David Reyes Ryan-David Reyes Rudolf Kobetic Mark Nandor Mark Nandor Nathaniel Makowski Nathaniel Makowski Musa Audu Musa Audu Roger Quinn Ronald Triolo Ronald Triolo Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis Frontiers in Neurorobotics motorized exoskeleton metabolic consumption METs friction |
author_facet |
Ryan-David Reyes Ryan-David Reyes Rudolf Kobetic Mark Nandor Mark Nandor Nathaniel Makowski Nathaniel Makowski Musa Audu Musa Audu Roger Quinn Ronald Triolo Ronald Triolo |
author_sort |
Ryan-David Reyes |
title |
Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis |
title_short |
Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis |
title_full |
Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis |
title_fullStr |
Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis |
title_full_unstemmed |
Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid Neuroprosthesis |
title_sort |
effect of joint friction compensation on a “muscle-first” motor-assisted hybrid neuroprosthesis |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Neurorobotics |
issn |
1662-5218 |
publishDate |
2020-12-01 |
description |
This study assessed the metabolic energy consumption of walking with the external components of a “Muscle-First” Motor Assisted Hybrid Neuroprosthesis (MAHNP), which combines implanted neuromuscular stimulation with a motorized exoskeleton. The “Muscle-First” approach prioritizes generating motion with the wearer's own muscles via electrical stimulation with the actuators assisting on an as-needed basis. The motorized exoskeleton contributes passive resistance torques at both the hip and knee joints of 6Nm and constrains motions to the sagittal plane. For the muscle contractions elicited by neural stimulation to be most effective, the motorized joints need to move freely when not actively assisting the desired motion. This study isolated the effect of the passive resistance or “friction” added at the joints by the assistive motors and transmissions on the metabolic energy consumption of walking in the device. Oxygen consumption was measured on six able-bodied subjects performing 6 min walk tests at three different speeds (0.4, 0.8, and 1.2 m/s) under two different conditions: one with the motors producing no torque to compensate for friction, and the other having the motors injecting power to overcome passive friction based on a feedforward friction model. Average oxygen consumption in the uncompensated condition across all speeds, measured in Metabolic Equivalent of Task (METs), was statistically different than the friction compensated condition. There was an average decrease of 8.8% for METs and 1.9% for heart rate across all speeds. While oxygen consumption was reduced when the brace performed friction compensation, other factors may have a greater contribution to the metabolic energy consumption when using the device. Future studies will assess the effects of gravity compensation on the muscular effort required to lift the weight of the distal segments of the exoskeleton as well as the sagittal plane constraint on walking motions in individuals with spinal cord injuries (SCI). |
topic |
motorized exoskeleton metabolic consumption METs friction |
url |
https://www.frontiersin.org/articles/10.3389/fnbot.2020.588950/full |
work_keys_str_mv |
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doaj-05861ac800cf42e69c69f22481ba1ec72020-12-11T06:40:12ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182020-12-011410.3389/fnbot.2020.588950588950Effect of Joint Friction Compensation on a “Muscle-First” Motor-Assisted Hybrid NeuroprosthesisRyan-David Reyes0Ryan-David Reyes1Rudolf Kobetic2Mark Nandor3Mark Nandor4Nathaniel Makowski5Nathaniel Makowski6Musa Audu7Musa Audu8Roger Quinn9Ronald Triolo10Ronald Triolo11Advanced Platform Technology Center, Department of Veterans Affairs, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United StatesDepartment of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United StatesAdvanced Platform Technology Center, Department of Veterans Affairs, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United StatesAdvanced Platform Technology Center, Department of Veterans Affairs, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United StatesDepartment of Mechanical Engineering, Case Western Reserve University, Cleveland, OH, United StatesAdvanced Platform Technology Center, Department of Veterans Affairs, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United StatesDepartment of Physical Medicine & Rehabilitation, MetroHealth Medical Center, Cleveland, OH, United StatesAdvanced Platform Technology Center, Department of Veterans Affairs, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United StatesDepartment of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United StatesDepartment of Mechanical Engineering, Case Western Reserve University, Cleveland, OH, United StatesAdvanced Platform Technology Center, Department of Veterans Affairs, Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United StatesDepartment of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United StatesThis study assessed the metabolic energy consumption of walking with the external components of a “Muscle-First” Motor Assisted Hybrid Neuroprosthesis (MAHNP), which combines implanted neuromuscular stimulation with a motorized exoskeleton. The “Muscle-First” approach prioritizes generating motion with the wearer's own muscles via electrical stimulation with the actuators assisting on an as-needed basis. The motorized exoskeleton contributes passive resistance torques at both the hip and knee joints of 6Nm and constrains motions to the sagittal plane. For the muscle contractions elicited by neural stimulation to be most effective, the motorized joints need to move freely when not actively assisting the desired motion. This study isolated the effect of the passive resistance or “friction” added at the joints by the assistive motors and transmissions on the metabolic energy consumption of walking in the device. Oxygen consumption was measured on six able-bodied subjects performing 6 min walk tests at three different speeds (0.4, 0.8, and 1.2 m/s) under two different conditions: one with the motors producing no torque to compensate for friction, and the other having the motors injecting power to overcome passive friction based on a feedforward friction model. Average oxygen consumption in the uncompensated condition across all speeds, measured in Metabolic Equivalent of Task (METs), was statistically different than the friction compensated condition. There was an average decrease of 8.8% for METs and 1.9% for heart rate across all speeds. While oxygen consumption was reduced when the brace performed friction compensation, other factors may have a greater contribution to the metabolic energy consumption when using the device. Future studies will assess the effects of gravity compensation on the muscular effort required to lift the weight of the distal segments of the exoskeleton as well as the sagittal plane constraint on walking motions in individuals with spinal cord injuries (SCI).https://www.frontiersin.org/articles/10.3389/fnbot.2020.588950/fullmotorizedexoskeletonmetabolicconsumptionMETsfriction |