PDF(Pubmed)
Abstract：
BACKGROUND: The talocrural joint and the subtalar joint are the two major joints of the ankle-joint complex. The position and direction of the exosuit force line relative to these two joint axes can influence ankle motion. We aimed to understand the effects of different force-lines on ankle multidimensional motion.
METHODS: In this article, three assistance force line schemes for ankle exosuits were proposed: perpendicular to the talocrural joint axis (PT), intersecting with the subtalar joint axis (IS), and parallel to the triceps surae (PTS). A theoretical model was proposed to calculate the exosuit\'s assistance moment. Seven participants completed four experimental tests of ankle plantarflexion, including three passive motions assisted by the PT, PTS and IS schemes, and one active motion without exosuit assistance (Active).
RESULTS: The simulation results demonstrated that all three exosuits were able to produce significant moments of ankle plantarflexion. Among these, the PT scheme exhibited the highest moments in all dimensions, followed by the PTS and IS schemes. The experimental findings confirmed the effectiveness of all three exosuit schemes in assisting ankle plantarflexion. Additionally, as the assistive force lines approached the subtalar joint, there was a decrease in ankle motion assisted by the exosuits in non-plantarflexion directions, along with a reduction in the average distance of ankle angle curves relative to active ankle motion. Furthermore, the linear correlation coefficients between inversion and plantarflexion, adduction and plantarflexion, and adduction and inversion gradually converged toward active ankle plantarflexion motion.
CONCLUSIONS: Our research indicates that the position of the exosuit force line to the subtalar joint has a significant impact on ankle inversion and adduction. Among all three schemes, the IS, which has the closest distance to the subtalar joint axes, has the greatest kinematic similarity to active ankle plantarflexion and might be a better choice for ankle assistance and rehabilitation.
METHODS: In this article, three assistance force line schemes for ankle exosuits were proposed: perpendicular to the talocrural joint axis (PT), intersecting with the subtalar joint axis (IS), and parallel to the triceps surae (PTS). A theoretical model was proposed to calculate the exosuit\'s assistance moment. Seven participants completed four experimental tests of ankle plantarflexion, including three passive motions assisted by the PT, PTS and IS schemes, and one active motion without exosuit assistance (Active).
RESULTS: The simulation results demonstrated that all three exosuits were able to produce significant moments of ankle plantarflexion. Among these, the PT scheme exhibited the highest moments in all dimensions, followed by the PTS and IS schemes. The experimental findings confirmed the effectiveness of all three exosuit schemes in assisting ankle plantarflexion. Additionally, as the assistive force lines approached the subtalar joint, there was a decrease in ankle motion assisted by the exosuits in non-plantarflexion directions, along with a reduction in the average distance of ankle angle curves relative to active ankle motion. Furthermore, the linear correlation coefficients between inversion and plantarflexion, adduction and plantarflexion, and adduction and inversion gradually converged toward active ankle plantarflexion motion.
CONCLUSIONS: Our research indicates that the position of the exosuit force line to the subtalar joint has a significant impact on ankle inversion and adduction. Among all three schemes, the IS, which has the closest distance to the subtalar joint axes, has the greatest kinematic similarity to active ankle plantarflexion and might be a better choice for ankle assistance and rehabilitation.
摘要：
背景：足骨关节和距下关节是踝关节复合体的两个主要关节。机器护甲力线相对于这两个关节轴的位置和方向可以影响脚踝运动。我们旨在了解不同力线对踝关节多维运动的影响。
方法：在本文中，提出了三种踝关节护甲的辅助力线方案：垂直于足关节轴（PT），与距下关节轴(IS)相交，与肱三头肌（PTS）平行。提出了计算机械护甲辅助力矩的理论模型。七名参与者完成了四项踝关节足底屈实验测试，包括三个由PT辅助的被动动作，PTS和IS计划，和一个没有机械护甲辅助的主动运动(主动)。
结果：模拟结果表明，所有三种机械护甲都能够产生明显的踝关节前屈力矩。其中,PT方案展示了所有维度中最高的时刻，其次是PTS和IS计划。实验结果证实了所有三种机械护甲方案在辅助踝关节屈方面的有效性。此外,当辅助力线接近距下关节时，有一个减少的脚踝运动的辅助机械护甲在非屈方向，随着踝关节角度曲线相对于活动踝关节运动的平均距离的减少。此外，倒转和足底弯曲之间的线性相关系数，内收和跖屈，内收和内翻逐渐向积极的踝关节屈运动收敛。
结论：我们的研究表明，机器护甲力线到距下关节的位置对踝关节内翻和内收有显着影响。在所有三个计划中，IS,距离距下关节轴最近的距离，具有最大的运动学相似性，积极的踝关节，可能是一个更好的选择，踝关节辅助和康复。
方法：在本文中，提出了三种踝关节护甲的辅助力线方案：垂直于足关节轴（PT），与距下关节轴(IS)相交，与肱三头肌（PTS）平行。提出了计算机械护甲辅助力矩的理论模型。七名参与者完成了四项踝关节足底屈实验测试，包括三个由PT辅助的被动动作，PTS和IS计划，和一个没有机械护甲辅助的主动运动(主动)。
结果：模拟结果表明，所有三种机械护甲都能够产生明显的踝关节前屈力矩。其中,PT方案展示了所有维度中最高的时刻，其次是PTS和IS计划。实验结果证实了所有三种机械护甲方案在辅助踝关节屈方面的有效性。此外,当辅助力线接近距下关节时，有一个减少的脚踝运动的辅助机械护甲在非屈方向，随着踝关节角度曲线相对于活动踝关节运动的平均距离的减少。此外，倒转和足底弯曲之间的线性相关系数，内收和跖屈，内收和内翻逐渐向积极的踝关节屈运动收敛。
结论：我们的研究表明，机器护甲力线到距下关节的位置对踝关节内翻和内收有显着影响。在所有三个计划中，IS,距离距下关节轴最近的距离，具有最大的运动学相似性，积极的踝关节，可能是一个更好的选择，踝关节辅助和康复。
