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Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance
Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Here we use the GyBAR, a back...
Autores principales: | , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7320159/ https://www.ncbi.nlm.nih.gov/pubmed/32591577 http://dx.doi.org/10.1038/s41598-020-66760-w |
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author | Lemus, Daniel Berry, Andrew Jabeen, Saher Jayaraman, Chandrasekaran Hohl, Kristen van der Helm, Frans C. T. Jayaraman, Arun Vallery, Heike |
author_facet | Lemus, Daniel Berry, Andrew Jabeen, Saher Jayaraman, Chandrasekaran Hohl, Kristen van der Helm, Frans C. T. Jayaraman, Arun Vallery, Heike |
author_sort | Lemus, Daniel |
collection | PubMed |
description | Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Here we use the GyBAR, a backpack-like prototype portable robot, to investigate the hypothesis that the balance of both healthy and chronic stroke subjects can be augmented through moments applied to the upper body. We quantified balance performance in terms of each participant’s ability to walk or remain standing on a narrow support surface oriented to challenge stability in either the frontal or the sagittal plane. By comparing candidate balance controllers, it was found that effective assistance did not require regulation to a reference posture. A rotational viscous field increased the distance healthy participants could walk along a 30mm-wide beam by a factor of 2.0, compared to when the GyBAR was worn but inactive. The same controller enabled individuals with chronic stroke to remain standing for a factor of 2.5 longer on a narrow block. Due to its wearability and versatility of control, the GyBAR could enable new therapy interventions for training and rehabilitation. |
format | Online Article Text |
id | pubmed-7320159 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
spelling | pubmed-73201592020-06-30 Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance Lemus, Daniel Berry, Andrew Jabeen, Saher Jayaraman, Chandrasekaran Hohl, Kristen van der Helm, Frans C. T. Jayaraman, Arun Vallery, Heike Sci Rep Article Gyroscopic actuators are appealing for wearable applications due to their ability to provide overground balance support without obstructing the legs. Multiple wearable robots using this actuation principle have been proposed, but none has yet been evaluated with humans. Here we use the GyBAR, a backpack-like prototype portable robot, to investigate the hypothesis that the balance of both healthy and chronic stroke subjects can be augmented through moments applied to the upper body. We quantified balance performance in terms of each participant’s ability to walk or remain standing on a narrow support surface oriented to challenge stability in either the frontal or the sagittal plane. By comparing candidate balance controllers, it was found that effective assistance did not require regulation to a reference posture. A rotational viscous field increased the distance healthy participants could walk along a 30mm-wide beam by a factor of 2.0, compared to when the GyBAR was worn but inactive. The same controller enabled individuals with chronic stroke to remain standing for a factor of 2.5 longer on a narrow block. Due to its wearability and versatility of control, the GyBAR could enable new therapy interventions for training and rehabilitation. Nature Publishing Group UK 2020-06-26 /pmc/articles/PMC7320159/ /pubmed/32591577 http://dx.doi.org/10.1038/s41598-020-66760-w Text en © The Author(s) 2020 Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/. |
spellingShingle | Article Lemus, Daniel Berry, Andrew Jabeen, Saher Jayaraman, Chandrasekaran Hohl, Kristen van der Helm, Frans C. T. Jayaraman, Arun Vallery, Heike Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
title | Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
title_full | Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
title_fullStr | Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
title_full_unstemmed | Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
title_short | Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
title_sort | controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7320159/ https://www.ncbi.nlm.nih.gov/pubmed/32591577 http://dx.doi.org/10.1038/s41598-020-66760-w |
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