Patent Application
20230110572
More than 1 million total hip replacements, also known as total hip arthroplasties, are performed each year with over 300,000 performed in the U.S. annually. Following a total hip arthroplasty, patients can incur a decrease of 20% in hip extensor moment of force during early stance phase, a 14% reduction in gait speed and a decrease of 59% in hip extension range at the end of the stance phase. In addition, stroke is one of the most frequent causes of disability in adults in the United States. Almost two thirds of stroke survivors have initial mobility deficits and cannot walk independently 6 months following a stroke. The hip joint provides 40-50% of the total average positive power for walking at a variety of rates, and injuries to this joint directly or to the spine drastically impact walking capabilities.
As a method of enabling the rehabilitation of gait deteriorating injuries and procedures, exosuits and exoskeletons for hip flexion and extension assistance have been under development across the world over the past decade. Exosuits, a subsection of soft robotics, employ soft materials as opposed to the rigid linkages found in exoskeletons to improve the comfort and safety of the user, as well as decrease assembly cost. Exosuits with a variety of actuators attempt to replicate the hip joint actuation of flexion and extension. Current exosuits address either extension or flexion exclusively with the intention of targeting a particular portion of the gait cycle at the hip.
A hip exosuit comprising a hip belt comprising one or more removably attached hip anchoring mechanisms, a leg brace, one or more anterior actuators, wherein each of the one or more anterior actuators is attached at a first end to a hip anchoring mechanism, wherein each of the one or more anterior actuators is attached at a second end to the leg brace, and one or more posterior actuators, wherein each of the one or more posterior actuators is attached at a first end to a hip anchoring mechanism, wherein each of the one or more posterior actuators is attached at a second end to the leg brace, wherein each of the plurality of anterior actuators are configured to contract in response to a first signal, and wherein each of the plurality of posterior actuators are configured to contract in response to a second signal.
In some embodiments, the hip exosuit comprises the one or more anterior actuators comprise a first anterior actuator and a second anterior actuator, the hip anchoring mechanism attached to the first anterior actuator is configured to be attached to the hip belt in a proximal location, the hip anchoring mechanism attached to the second anterior actuator is configured to be attached to the hip belt in a distal location, and the first anterior actuator and the second anterior actuator are attached to the leg brace in a distal location and a proximal location, respectively.
In some embodiments, the hip exosuit comprises the one or more posterior actuators comprise a first posterior actuator and a second posterior actuator, the hip anchoring mechanism attached to the first posterior actuator is configured to be attached to the hip belt in a proximal location, the hip anchoring mechanism attached to the second posterior actuator is configured to be attached to the hip belt in a distal location, and the first posterior actuator and the second posterior actuator are attached to the leg brace in a distal location and a proximal location, respectively.
In some embodiments, the hip exosuit further comprising at least a pressure regulator interfaced to the one or more anterior actuators and the one or more posterior actuators through one or more valves.
In some embodiments, at least one of the pressure regulators or the one or more valves are contained in a wearable pouch.
In some embodiments, each hip anchoring mechanism comprises a hook and loop attachment configured to allow adjustment of the length of the attached anterior or posterior actuator.
In some embodiments, the one or more anterior actuators and the one or more posterior actuators each comprise a soft and compliant material.
In some embodiments, the soft and compliant material comprises at least one of neoprene, spandex, and nylon.
In some embodiments, the leg brace comprises a first leg brace and a second leg brace, wherein the first leg brace is attached to the one or more anterior actuators, and wherein the second leg brace is attached to the one or more posterior actuators.
In some embodiments, the hip exosuit further comprising a control circuit configured to produce the first and second signal; and one or more pressure sensors, interfaced to the control circuit.
In some embodiments, the hip exosuit comprises the one or more pressure sensors monitor the pressure in at least one of the one or more valves, the one or more anterior actuators, or the one or more posterior actuators.
A method of assisting a motion of a hip of a subject, the method comprising applying the hip exosuit of claim 1 to the hip of the subject, contracting the plurality of anterior actuators in response to the first signal, and contracting the plurality of posterior actuators in response to the second signal.
In some embodiments, the motion comprises flexion, extension, or a combination thereof.
A hip exosuit comprising a hip belt comprising one or more removably attached hip anchoring mechanisms, a leg brace, a first actuator, and a second actuator, wherein the hip anchoring mechanism attached to the first actuator is configured to be attached to the hip belt in a proximal location and the hip anchoring mechanism attached to the second actuator is configured to be attached to the hip belt in a distal location, wherein the first actuator and the second actuator are attached to the leg brace in a distal location and a proximal location, respectively, and wherein the first and second actuator are configured to contract in response to a signal.
In some embodiments, the hip anchoring mechanism comprises a hook-and-loop attachment.
In some embodiments, the hook-and-loop attachment is configured to allow adjustments in length of the first actuator or the second actuator.
In some embodiments, the first actuator and the second actuator are flag fabric pneumatic artificial muscles (ff-PAMs).
In some embodiments, each ff-PAM comprises a plurality of pressure chambers.
In some embodiments, the plurality of pressure chambers are configured to be separated via a seal.
In some embodiments, the plurality of pressure chambers are configured to be inflated and deflated through the use of at least a valve.
The foregoing purposes and features, as well as other purposes and features, will become apparent with reference to the description and accompanying figures below, which are included to provide an understanding of the invention and constitute a part of the specification, in which like numerals represent like elements, and in which:
It is to be understood that the figures and descriptions of the present invention have been simplified to illustrate elements that are relevant for a clearer comprehension of the present invention, while eliminating, for the purpose of clarity, many other elements found in systems and methods for a hip exosuit to assist hip flexion and extension. Those of ordinary skill in the art may recognize that other elements and/or steps are desirable and/or required in implementing the present invention. However, because such elements and steps are well known in the art, and because they do not facilitate a better understanding of the present invention, a discussion of such elements and steps is not provided herein. The disclosure herein is directed to all such variations and modifications to such elements and methods known to those skilled in the art.
This disclosure is not limited to the particular systems, devices and methods described, as these may vary. The terminology used in the description is for the purpose of describing the particular versions or embodiments only and is not intended to limit the scope of the disclosure.
The following terms shall have, for the purposes of this application, the respective meanings set forth below. Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art. Nothing in this disclosure is to be construed as an admission that the embodiments described in this disclosure are not entitled to antedate such disclosure by virtue of prior invention. Although any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, the preferred methods and materials are described.
As used herein, the singular forms “a,” “an,” and “the” include plural references, unless the context clearly dictates otherwise. Thus, for example, reference to a “cell” is a reference to one or more cells and equivalents thereof known to those skilled in the art, and so forth.
As used herein, the term “about” means plus or minus 10% of the numerical value of the number with which it is being used. Therefore, about 50 mm means in the range of 45 mm to 55 mm.
As used herein, the term “consists of’ or “consisting of” means that the device or method includes only the elements, steps, or ingredients specifically recited in the particular claimed embodiment or claim.
In embodiments or claims where the term “comprising” is used as the transition phrase, such embodiments can also be envisioned with replacement of the term “comprising” with the terms “consisting of’ or “consisting essentially of”.
As will be understood by one skilled in the art, for any and all purposes, such as in terms of providing a written description, all ranges disclosed herein are intended as encompassing each intervening value between the upper and lower limit of that range and any other stated or intervening value in that stated range. All ranges disclosed herein also encompass any and all possible subranges and combinations of subranges thereof. Any listed range can be easily recognized as sufficiently describing and enabling the same range being broken down into at least equal halves, thirds, quarters, fifths, tenths, et cetera. As a non-limiting example, each range discussed herein can be readily broken down into a lower third, middle third and upper third, et cetera. As will also be understood by one skilled in the art, all language such as “up to,” “at least,” and the like include the number recited and refer to ranges that can be subsequently broken down into subranges as discussed above. Finally, as will be understood by one skilled in the art, a range includes each individual member. Thus, for example, a group having 1-3 components refers to groups having 1, 2, or 3 components as well as the range of values greater than or equal to 1 component and less than or equal to 3 components. Similarly, a group having 1-5 components refers to groups having 1, 2, 3, 4, or 5 components, as well as the range of values greater than or equal to 1 component and less than or equal to 5 components, and so forth.
In addition, even if a specific number is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). In those instances where a convention analogous to “at least one of A, B, or C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, sample embodiments, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”
In addition, where features of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group.
All percentages, parts and ratios are based upon the total weight of the compositions and all measurements made are at about 25° C., unless otherwise specified.
Disclosed herein are exosuits comprising flat fabric pneumatic artificial muscle (ff-pAM) actuators to assist in hip flexion and extension for human walking. In extension, the exosuit mimics the shape and behavior of the gluteus maximus (GM), semimembranosus (SM), and biceps femoris (BF). In flexion, the exosuit mimics the shape and behavior of the iliacus (IL), rectus femoris (RF) and vastus medialis (VM). The exosuit uses a pair of full-length ff-PAMs for both flexion and extension, with different heights of intersection for the actuators. Flexion refers to forward movement while extension is a straightening movement that increases angles between body parts. In some embodiments, the ff-PAMs are in an ‘X’ formation (X-ff-PAM). In order to evaluate the effectiveness of the exosuit on user comfort and assistance, hip range of motion (ROM) and muscle activity during walking were monitored using a motion capture system and surface electromyography sensors.
In an embodiment, the exosuit may comprise a hip belt comprising one or more removably attached hip anchoring mechanisms, a leg brace, one or more flexion actuators, wherein each of the one or more flexion actuators is attached at a first end to a hip anchoring mechanism, wherein each of the one or more flexion actuators is attached at a second end to the leg brace, and one or more extension actuators, wherein each of the one or more extension actuators is attached at a first end to a hip anchoring mechanism, wherein each of the one or more extension actuators is attached at a second end to the leg brace, wherein each of the plurality of flexion actuators are configured to contract in response to a first signal, and wherein each of the plurality of extension actuators are configured to contract in response to a second signal.
Disclosed herein is a method of assisting a motion of a hip of a subject, the method comprising applying the hip exosuit of claim 1 to the hip of the subject, contracting the plurality of flexion actuators in response to the first signal, and contracting the plurality of extension actuators in response to the second signal. In some embodiments, the motion comprises flexion, extension, or a combination thereof. Any sort of signal described herein may be received or transmitted from a microcontroller or control circuit as described below.
In some embodiments, a hip exosuit may comprise a hip belt comprising one or more removably attached hip anchoring mechanisms, and a leg brace. In certain embodiments, the hip exosuit may further comprise one or more anterior actuators, wherein each anterior actuator is attached at a first end, fixedly or removably, to a hip anchoring mechanism, wherein each of the one or more anterior actuators is attached at a second end to the leg brace. In some embodiments, the hip exosuit may further comprise one or more posterior actuators, wherein each posterior actuator is attached at a first end, fixedly or removably, to a hip anchoring mechanism, and wherein each of the one or more posterior actuators is attached at a second end to the leg brace.
In certain embodiments, each of the plurality of anterior actuators may be configured to contract in response to a first signal. In an embodiment, the first signal may be, for example, from about 50% to about 90% of a gait cycle. In some embodiments, each of the plurality of posterior actuators may be configured to contract in response to a second signal. In an embodiment, the second signal may be, for example, from about 10% to about 45% of a gait cycle.
In some embodiments, the one or more anterior actuators described herein may comprise a first anterior actuator and a second anterior actuator. In certain embodiments, the hip anchoring mechanism attached to the first anterior actuator may configured to be attached to the hip belt in a proximal location, and the hip anchoring mechanism attached to the second anterior actuator is configured to be attached to the hip belt in a distal location. In some embodiments, the first anterior actuator and the second anterior actuator may be attached to the leg brace in a distal location and a proximal location, respectively.
In certain embodiments wherein the one or more posterior actuators comprise a first posterior actuator and a posterior extension actuator, the hip anchoring mechanism attached to the first posterior actuator may be configured to be attached to the hip belt in a proximal location, and the hip anchoring mechanism attached to the second posterior actuator may be configured to be attached to the hip belt in a distal location. In some embodiments, the first posterior actuator and the second posterior actuator may be attached to the leg brace in a distal location and a proximal location, respectively.
In certain embodiments, the one or more anterior actuators may be configured to actively aid in flexion hip torque.
In certain embodiments, the one or more posterior actuators may be configured to actively aid in extension hip torque.
In certain embodiments, the hip exosuit may comprise either anterior or posterior anchors. As described herein, anchors may be any sort of attachment that provides stability and is secured firmly in its position. Alternatively, both anterior and posterior anchors may be included, but only one set activated at a time. These configurations may be made based on the need of the patient.
In some embodiments, the hip exosuit may further comprise at least a pressure regulator interfaced to the one or more anterior actuators and the one or more posterior actuators through one or more valves. In certain embodiments, at least one of the pressure regulators or the one or more valves may be contained in a wearable pouch attached to the exosuit or embedded in. In some embodiments, at least one of the pressure regulators or the one or more valves are contained in a wearable pouch.
In certain embodiments, each hip anchoring mechanism comprises a hook-and-loop attachment, which may be configured to allow adjustment of the length of the attached anterior or posterior actuator. A “hook-and-loop attachment” is a fastening system which uses two sides of material to stick together.
In certain embodiments, the one or more anterior actuators and the one or more posterior actuators may each independently comprise a material that is soft, compliant, or a combination thereof. In some embodiments, the material may comprise, for example, neoprene, spandex, nylon, or a combination thereof.
In some embodiments, the leg brace may comprise a first leg brace and a second leg brace. In certain embodiments, the first leg brace may be attached to the one or more anterior actuators, and the second leg brace may be attached to the one or more posterior actuators.
In certain embodiments, the hip exosuit may further comprise a control circuit configured to produce the first and second signal; and one or more pressure sensors, which may be interfaced to the control circuit. In certain embodiments, the one or more pressure sensors are configured to monitor the pressure in at least one of: the one or more valves, the one or more anterior actuators, and/or the one or more posterior actuators.
In some embodiments, the hip exosuit described herein may have a weight of less than or equal to about 1.8 kg. In certain embodiments, the hip exosuit described herein may have a hip flexion of about 0.56 Nm/kg at about 51.6% of a gait cycle. In some embodiments, the hip exosuit described herein may assist the flexion of the IL, VM, and/or RF muscles. In certain embodiments, the hip exosuit described herein may have a hip extension of about 0.66 Nm/kg at about 5.5% of a gait cycle. In some embodiments, the hip exosuit described herein may assist the extension of the GM and/or BF muscles. In an embodiment, the hip exosuit described herein may have a minimum range of motion (ROM) of about 40° (about 30° flexion; about 10° extension).
In some embodiments, a method of assisting a motion of a hip of a subject may comprise to the hip of the subject a hip exosuit as described herein. The method may further comprise at least one of contracting the plurality of anterior actuators in response to the first signal, as described herein; and contracting the plurality of posterior actuators in response to the second signal, as described herein. In certain embodiments, the motion may comprise flexion, extension, or a combination thereof.
In some embodiments, each actuator is pressurized using compressed air. In other embodiment, other gases or fluids are used. In some embodiments, instantaneous pressure is provided through one or more valves. In some embodiments, the valves are pneumatic valves. In alternative embodiments, the valves are solenoid valves. In some embodiments, the valves are configured to be worn on the body of the user. In alternative embodiments, the valves may be external from the user and connected to the actuators via a tether. Valves may be stored within a valve pouch 108. In some embodiments, the valve pouch 108 may be configured to be worn about the torso or waist. In some embodiments, the valve pouch 108 may properly balance the valves on the user to prevent changes to the user's gait while walking. Valve pouch 108 may be the wearable pouch as described herein.
In some embodiments, the system may further comprise a treadmill 109. In further embodiments, the treadmill 109 may be a split belt treadmill. In some embodiments, a split belt treadmill allows the system to monitor and collect measurements relevant to the gait of the user.
In further embodiments, the exosuit is configured to actuate the posterior set of ff-PAM actuators from 10-45% of the gait cycle to assist hip extension, and the anterior ff-PAM actuator set from 50-90% of the gait cycle to assist hip flexion. In some embodiments, the ff-PAMs cannot be slacked and are attached in tension to maximize force output. In a prime embodiment, both the flexion and extension actuators are configured to be in an ‘X’ orientation. This configuration hugs the user's thigh more closely than designs that run distally down the back of the leg, and instead mimics the shape of the Iliacus and the Rectus Femoris, the most crucial muscles for hip flexion.
In some embodiments, the posterior actuator may also be in an ‘X’ orientation to guarantee complete range of motion inflexion and prevent potential hip abduction generated by force applied to one side of the hip over the other. This orientation of extension actuators may be shaped like the Adductor Magnus and Vastus Lateralis, hugging the leg more closely than prior exosuit designs.
In some embodiments, by contracting the posterior actuators 204 an extension force 205 is generated. By contracting the anterior actuators 204 a flexion force 206 is generated. In some embodiments, these forces may be individually generated to coincide with portions of the user's gait to properly aid in their motion.
In some embodiments, the system may further comprise a control circuit 506. The control circuit 506 may comprise one or more pressure sensors 508 integrated to the pressure lines 502 within the exosuit 501, one or more MOSFETS 509 for controlling the one or more valves in the valve pouch 503, a microcontroller 510, a voltage regulator interfaced to a power source, a power switch 512, and assorted power rails 514/515. In some embodiments, the microcontroller may be integrated to an external computer 516 or server through a network interface. In some embodiments, the network interface may be used to transmit data to the computer 516. In some embodiments, the network interface may be used to receive programming instructions from the computer 516.
Referring briefly to
Aspects of the invention relate to algorithms executed in computer software. Though certain embodiments may be described as written in particular programming languages, or executed on particular operating systems or computing platforms, it is understood that the system and method of the present invention is not limited to any particular computing language, platform, or combination thereof. Software executing the algorithms described herein may be written in any programming language known in the art, compiled or interpreted, including but not limited to C, C++, C#, Objective-C, Java, JavaScript, MATLAB, Python, PHP, Perl, Ruby, or Visual Basic. It is further understood that elements of the present invention may be executed on any acceptable computing platform, including but not limited to a server, a cloud instance, a workstation, a thin client, a mobile device, an embedded microcontroller, a television, or any other suitable computing device known in the art.
Parts of this invention are described as software running on a computing device. Though software described herein may be disclosed as operating on one particular computing device (e.g. a dedicated server or a workstation), it is understood in the art that software is intrinsically portable and that most software running on a dedicated server may also be run, for the purposes of the present invention, on any of a wide range of devices including desktop or mobile devices, laptops, tablets, smartphones, watches, wearable electronics or other wireless digital/cellular phones, televisions, cloud instances, embedded microcontrollers, thin client devices, or any other suitable computing device known in the art.
Similarly, parts of this invention are described as communicating over a variety of wireless or wired computer networks. For the purposes of this invention, the words “network”, “networked”, and “networking” are understood to encompass wired Ethernet, fiber optic connections, wireless connections including any of the various 802.11 standards, cellular WAN infrastructures such as 3G, 4G/LTE, or 5G networks, Bluetooth®, Bluetooth® Low Energy (BLE) or Zigbee® communication links, or any other method by which one electronic device is capable of communicating with another. In some embodiments, elements of the networked portion of the invention may be implemented over a Virtual Private Network (VPN).
Generally, program modules include routines, programs, components, data structures, and other types of structures that perform particular tasks or implement particular abstract data types. Moreover, those skilled in the art will appreciate that the invention may be practiced with other computer system configurations, including hand-held devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, minicomputers, mainframe computers, and the like. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.
The storage device 920 is connected to the CPU 950 through a storage controller (not shown) connected to the bus 935. The storage device 920 and its associated computer-readable media provide non-volatile storage for the computer 900. Although the description of computer-readable media contained herein refers to a storage device, such as a hard disk or CD-ROM drive, it should be appreciated by those skilled in the art that computer-readable media can be any available media that can be accessed by the computer 900.
By way of example, and not to be limiting, computer-readable media may comprise computer storage media. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information, and which can be accessed by the computer.
According to various embodiments of the invention, the computer 900 may operate in a networked environment using logical connections to remote computers through a network 940, such as TCP/IP network such as the Internet or an intranet. The computer 900 may connect to the network 940 through a network interface unit 945 connected to the bus 935. It should be appreciated that the network interface unit 945 may also be utilized to connect to other types of networks and remote computer systems.
The computer 900 may also include an input/output controller 955 for receiving and processing input from a number of input/output devices 960, including a keyboard, a mouse, a touchscreen, a camera, a microphone, a controller, a joystick, or other type of input device. Similarly, the input/output controller 955 may provide output to a display screen, a printer, a speaker, or other type of output device. The computer 900 can connect to the input/output device 960 via a wired connection including, but not limited to, fiber optic, Ethernet, or copper wire or wireless means including, but not limited to, Wi-Fi, Bluetooth, Near-Field Communication (NFC), infrared, or other suitable wired or wireless connections.
As mentioned briefly above, a number of program modules and data files may be stored in the storage device 920 and/or RAM 910 of the computer 900, including an operating system 925 suitable for controlling the operation of a networked computer. The storage device 920 and RAM 910 may also store one or more applications/programs 930. In particular, the storage device 920 and RAM 910 may store an application/program 930 for providing a variety of functionalities to a user. For instance, the application/program 930 may comprise many types of programs such as a word processing application, a spreadsheet application, a desktop publishing application, a database application, a gaming application, internet browsing application, electronic mail application, messaging application, and the like. According to an embodiment of the present invention, the application/program 930 comprises a multiple functionality software application for providing word processing functionality, slide presentation functionality, spreadsheet functionality, database functionality and the like.
The computer 900 in some embodiments can include a variety of sensors 965 for monitoring the environment surrounding and the environment internal to the computer 900. These sensors 965 can include a Global Positioning System (GPS) sensor, a photosensitive sensor, a gyroscope, a magnetometer, thermometer, a proximity sensor, an accelerometer, a microphone, biometric sensor, barometer, humidity sensor, radiation sensor, or any other suitable sensor.
The invention is now described with reference to the following Examples. These Examples are provided for the purpose of illustration only and the invention should in no way be construed as being limited to these Examples, but rather should be construed to encompass any and all variations which become evident as a result of the teaching provided herein.
Without further description, it is believed that one of ordinary skill in the art can, using the preceding description and the following illustrative examples, make and utilize the present invention and practice the claimed methods. The following working examples, therefore, specifically point out the preferred embodiments of the present invention and are not to be construed as limiting in any way the remainder of the disclosure.
To evaluate the most effective orientation of the ff-PAMs, both parallel and ‘X’ configurations were considered.
The parallel and X-ff-PAMs operated at similar levels, with the X-ff-PAM outperforming the parallel ff-PAM with a shorter response time.
An additional study was conducted with three (n=3) healthy participants (age: 21-27, height: 1.68-1.88 m, weight: 47.6-83.9 kg, and leg length: 0.79-1.05 m) recruited following the procedures for healthy participants as approved by the Institutional Review Board of Arizona State University (STUDY00012099). Two experimental protocols were implemented, each on a different day, and each subject participated in both experiments. The objective of the experiment was to assess the effectiveness of the X-ff-PAM to assist in hip flexion and extension during walking. A surface electromyography measurement (EMG) system recorded the muscle activity of the iliacus (IL), rectus femoris (RF), biceps femoris (BF), and gluteus maximus (GM), major contributors to successful hip flexion and extension. A motion capture system allowed for a continuous monitoring of hip angle for comparison to normal ROM at the joint. Reflective markers were placed at the anterior and posterior points of the pelvis, and the center of the thigh to track hip angle in the sagittal plane.
Prior to the main walking experiment, the surface EMG sensors were placed on the belly of the four muscles described above and maximum voluntary contraction (MVC) of each muscle was measured as per standard International Society of Electrophysiology and Kinesiology (ISEK) protocols. Preferred walking speed was determined by increasing treadmill speeds by steps of 0.1 m/s until the subject indicated the pace was quicker than their natural cadence, then decreased in steps of 0.1 m/s until the subject indicated it was too slow. The final preferred walking speed was selected by averaging the two values and was between 1 and 1.3 m/s for all participants, well within normal bounds of human walking. The main experiment was performed under 3 conditions: (1) no exosuit, (2) passive exosuit, and (3) active exosuit. In the active exosuit condition, the flexion X-ff-PAM was pressurized at 200 kPa for 50-90% of the gait cycle and depressurized for the remainder, thus assisting only in the late stance phase. The extension X-ff-PAM was pressurized at 200 kPa for 10-45% of the gait cycle and depressurized for the remainder, assisting only in the terminal swing to loading response. Both actuators were pressurized through valves mounted on the back of the participant. The participant walked for 2 minutes for each experimental condition and a minimum 3-minute resting period was provided between each trial to prevent any potential muscle fatigue. Three active trials were run for each participant, and the cleanest data was chosen out of the three. Force plate, motion capture, and EMG data were used to determine gait cycle, kinematics, and muscle activity, respectively. The motion capture system was used to monitor joint angles at a measurement rate of 250 Hz to confirm the exosuit did not significantly decrease the hip range of motion (ROM) in the sagittal plane during walking trials. EMG data was collected at 2 kHz and filtered using the second-order Butterworth lowpass filter with a cutoff frequency of 20 Hz and synchronized with kinematic data and force plate data to monitor improvements in muscle expenditure in hip flexion in the IL and RF, and hip extension in the BF and GM muscles. To determine reduction in muscle activity, the area under the curve was taken between the no exosuit and active conditions from 10-45% of the gait cycle for the hip extensors (GM and BF) and 50-90% of the gait cycle for hip flexors (IL and RF).
The results this study showed kinematic data and muscle data to verify the effectiveness of exosuit function in reducing muscle activation without significantly altering normal ROM.
While the present disclosure has been illustrated by the description of exemplary embodiments thereof, and while the embodiments have been described in certain detail, the Applicant does not intend to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. Therefore, the disclosure in its broader aspects is not limited to any of the specific details, representative devices and methods, and/or illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the Applicant's general inventive concept.
In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the present disclosure are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that various features of the present disclosure, as generally described herein, and illustrated in the Figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.
The present disclosure is not to be limited in terms of the particular embodiments described in this application, which are intended as illustrations of various features. Instead, this application is intended to cover any variations, uses, or adaptations of the present teachings and use its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which these teachings pertain. Many modifications and variations can be made to the particular embodiments described without departing from the spirit and scope of the present disclosure as will be apparent to those skilled in the art. Functionally equivalent methods and apparatuses within the scope of the disclosure, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing descriptions. It is to be understood that this disclosure is not limited to particular methods, reagents, compounds, compositions, or biological systems, which can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.
Various of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations, or improvements therein may be subsequently made by those skilled in the art, each of which is also intended to be encompassed by the disclosed embodiments.
The disclosures of each and every patent, patent application, and publication cited herein are hereby incorporated herein by reference in their entirety. While this invention has been disclosed with reference to specific embodiments, it is apparent that other embodiments and variations of this invention may be devised by others skilled in the art without departing from the true spirit and scope of the invention.
This application claims priority to U.S. provisional application No. 63/262,270 filed on Oct. 8, 2021, incorporated herein by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| 63262270 | Oct 2021 | US |
