Exploring Human-Exoskeleton Interaction Dynamics: An In-Depth Analysis of Knee Flexion-Extension Performance across Varied Robot Assistance-Resistance Configurations.

Knee rehabilitation therapy after trauma or neuromotor diseases is fundamental to restore the joint functions as best as possible, exoskeleton robots being an important resource in this context, since they optimize therapy by applying tailored forces to assist or resist movements, contributing to improved patient outcomes and treatment efficiency. One of the points that must be taken into account when using robots in rehabilitation is their interaction with the patient, which must be safe for both and guarantee the effectiveness of the treatment. Therefore, the objective of this study was to assess the interaction between humans and an exoskeleton during the execution of knee flexion-extension movements under various configurations of robot assistance and resistance. The evaluation encompassed considerations of myoelectric activity, muscle recruitment, robot torque, and performed movement. To achieve this, an experimental protocol was implemented, involving an individual wearing the exoskeleton and executing knee flexion-extension motions while seated, with the robot configured in five distinct modes: passive (P), assistance on flexion (FA), assistance on extension (EA), assistance on flexion and extension (CA), and resistance on flexion and extension (CR). Results revealed distinctive patterns of movement and muscle recruitment for each mode, highlighting the complex interplay between human and robot; for example, the largest RMS tracking errors were for the EA mode (13.72 degrees) while the smallest for the CR mode (4.47 degrees), a non-obvious result; in addition, myoelectric activity was demonstrated to be greater for the completely assisted mode than without the robot (the maximum activation levels for the vastus medialis and vastus lateralis muscles were more than double those when the user had assistance from the robot). Tracking errors, muscle activations, and torque values varied across modes, emphasizing the need for careful consideration in configuring exoskeleton assistance and resistance to ensure effective and safe rehabilitation. Understanding these human-robot interactions is essential for developing precise rehabilitation programs, optimizing treatment effectiveness, and enhancing patient safety.

SensAA-Design and Verification of a Cloud-Based Wearable Biomechanical Data Acquisition System.

Exoskeletons designed to assist patients with activities of daily living are becoming increasingly popular, but still are subject to research. In order to gather requirements for the design of such systems, long-term gait observation of the patients over the course of multiple days in an environment of daily living are required. In this paper a wearable all-in-one data acquisition system for collecting and storing biomechanical data in everyday life is proposed. The system is designed to be cost efficient and easy to use, using off-the-shelf components and a cloud server system for centralized data storage. The measurement accuracy of the system was verified, by measuring the angle of the human knee joint at walking speeds between 3 and 12 km/h in reference to an optical motion analysis system. The acquired data were uploaded to a cloud database via a smartphone application. Verification results showed that the proposed toolchain works as desired. The system reached an RMSE from 2.9° to 8°, which is below that of most comparable systems. The system provides a powerful, scalable platform for collecting and processing biomechanical data, which can help to automize the generation of an extensive database for human kinematics.

[Design and biomechanical analysis of a self-force source power-assisted knee orthotics actuated by liquid spring].

A micro silicone oil liquid spring was designed and manufactured in this article. The performance of the liquid spring was studied by simulation analysis and mechanical test. A self-force source power-assisted knee orthosis was designed based on the liquid spring. This power-assisted knee orthosis can convert the kinetic energy of knee flexion into the elastic potential energy of liquid spring for storage, and release elastic potential energy to generate assisted torque which drives the knee joint for extension. The results showed that the average maximum reset force of the liquid spring was 1 240 N, and the average maximum assisted torque for the knee joint was 29.8 N·m. A musculoskeletal multibody dynamic model was used to analyze the biomechanical effect of the knee orthosis on the joint during knee bending (90°knee flexion). The results showed that the power-assisted knee orthosis could effectively reduce the biomechanical load of the knee joint for the user with a body weight of 80 kg. The maximum forces of the femoral-tibial joint force, patellar-femoral joint force, and quadriceps-ligament force were reduced by 24.5%, 23.8%, and 21.2%, respectively. The power-assisted knee orthosis designed in this article provides sufficient assisted torque for the knee joint. It lays a foundation for the subsequent commercial application due to its small size and lightweight.

Knee joint angle sensing in healthy young adults using flexible orthosis with different wearing pressure.

[Purpose] To investigate the effects of a flexible brace, by analyzing whether its usage; the difference in wearing pressure could change the joint position sensation in healthy participants; and develop a flexible knee brace for patients with knee osteoarthritis. [Participants and Methods] The study included eight healthy males with 14 knee joints (mean age, 22.0 ± 3.1 years). To measure joint position sense, an "angle reproduction test" was performed in three experimental conditions: 1) participants not wearing the brace, 2) the brace was secured with an appropriate force, and 3) the brace was fully secured using hook-and-loop fasteners. [Results] No significant difference was observed among groups comprising of those not wearing, those wearing with the standard force, and those wearing with the tight force. When the maximum hook-and-loop fastener was squeezed, the sensory error in joint position was maximized at both 30° and 60° flexion. [Conclusion] Joint position sense improvement was confirmed to be poor by orthosis, and an error occurred in the joint position sense by increasing the wearing pressure in orthosis. In future, measurements should be performed on patients with knee osteoarthritis who have decreased joint position sense and verify the effect of different wearing pressures verified.

Assessment of an Assistive Control Approach Applied in an Active Knee Orthosis Plus Walker for Post-Stroke Gait Rehabilitation.

The goal of this study is the assessment of an assistive control approach applied to an active knee orthosis plus a walker for gait rehabilitation. The study evaluates post-stroke patients and healthy subjects (control group) in terms of kinematics, kinetics, and muscle activity. Muscle and gait information of interest were acquired from their lower limbs and trunk, and a comparison was conducted between patients and control group. Signals from plantar pressure, gait phase, and knee angle and torque were acquired during gait, which allowed us to verify that the stance control strategy proposed here was efficient at improving the patients' gaits (comparing their results to the control group), without the necessity of imposing a fixed knee trajectory. An innovative evaluation of trunk muscles related to the maintenance of dynamic postural equilibrium during gait assisted by our active knee orthosis plus walker was also conducted through inertial sensors. An increase in gait cycle (stance phase) was also observed when comparing the results of this study to our previous work. Regarding the kinematics, the maximum knee torque was lower for patients when compared to the control group, which implies that our orthosis did not demand from the patients a knee torque greater than that for healthy subjects. Through surface electromyography (sEMG) analysis, a significant reduction in trunk muscle activation and fatigability, before and during the use of our orthosis by patients, was also observed. This suggest that our orthosis, together with the assistive control approach proposed here, is promising and could be considered to complement post-stroke patient gait rehabilitation.

Knee Impedance Modulation to Control an Active Orthosis Using Insole Sensors.

Robotic devices for rehabilitation and gait assistance have greatly advanced with the objective of improving both the mobility and quality of life of people with motion impairments. To encourage active participation of the user, the use of admittance control strategy is one of the most appropriate approaches, which requires methods for online adjustment of impedance components. Such approach is cited by the literature as a challenge to guaranteeing a suitable dynamic performance. This work proposes a method for online knee impedance modulation, which generates variable gains through the gait cycle according to the users' anthropometric data and gait sub-phases recognized with footswitch signals. This approach was evaluated in an active knee orthosis with three variable gain patterns to obtain a suitable condition to implement a stance controller: two different gain patterns to support the knee in stance phase, and a third pattern for gait without knee support. The knee angle and torque were measured during the experimental protocol to compare both temporospatial parameters and kinematics data with other studies of gait with knee exoskeletons. The users rated scores related to their satisfaction with both the device and controller through QUEST questionnaires. Experimental results showed that the admittance controller proposed here offered knee support in 50% of the gait cycle, and the walking speed was not significantly different between the three gain patterns (p = 0.067). A positive effect of the controller on users regarding safety during gait was found with a score of 4 in a scale of 5. Therefore, the approach demonstrates good performance to adjust impedance components providing knee support in stance phase.

Exercise using a robotic knee orthosis in stroke patients with hemiplegia.

[Purpose] The Robotics Knee Orthosis (RKO) is a knee-ankle-foot orthosis with active robot assisting technology. The purpose of this study is to examine the effects of exercise with the RKO (RKO-exercise) in stroke patients with hemiplegia. [Subjects and Methods] Participants were nine stroke patients with hemiplegia, residing in a convalescent rehabilitation ward. The duration of the RKO-exercise program was 10 days. Participants were evaluated three times prior to intervention, once after intervention, and one month post intervention. Each session consisted of standard-of-care physical therapy for 60 minutes and RKO-exercise for 20 minutes. Dependent variables were 10-meter gait speed, cadence, Berg Balance Scale (BBS) score, stride length, the absolute value of left-right symmetry of the step length, and one-leg support period while walking. Data were analyzed using a one-way repeated measures ANOVA. [Results] Stride length, left-right symmetry of the step length, and one-leg support period while walking changed following the RKO exercise program. 10-meter walking speed, cadence, percentage of one-leg support period (affected side), and BBS changed significantly at one month post treatment time points. [Conclusion] It is expected that RKO-exercise helps recovery process after the stroke. RKO-exercise effectively treats impaired mobility in patient status-post stroke.

Analysis of balance ability dependent on the angle of the knee joint in females in their 20s.

The aim of this study was to investigate how balance ability according to angle of the knee joint changes in young female adults wearing a knee orthosis. [Methods] This study was conducted with 11 healthy female adults. The subjects used a knee brace that could be set to angles of 0°, 15°, and 30° of knee flexion. The ability to balance was evaluated by balance assessment. A total of four postures were used for measurements: a forward-facing posture with the eyes open on a stable surface (NO), a forward-facing posture with the eyes closed on a stable surface (NC), a forward-facing posture with the eyes open on an unstable surface (PO), and a forward-facing posture with the eyes closed on an unstable surface (PC). [Results] Regarding the weight distribution index and stability index on a stable surface, there was no interaction according to whether there was visual deprivation or not or according to knee flexion angle. Furthermore, the stability index on an unstable surface showed no interaction according to whether there was visual deprivation or not or according to knee flexion angle. But the WDI on a stable surface showed no interaction according to whether there was visual deprivation or not or according to knee flexion angle. [Conclusion] There were significant differences in the knee extension range of motion of normal elderly people and knee osteoarthritis, and the quadriceps femoris played an important role in knee function in individuals with knee osteoarthritis.

Effect of Knee Orthosis and Kinesio Taping on Clinical and Neuromuscular Outcomes in Patients with Knee Osteoarthritis: A Randomized Clinical Trial.

Objectives: Impaired proprioception and muscle weakness may not only be a consequence of knee osteoarthritis (OA) but also part of its pathogenesis. Thus, the enhancement of quadriceps strength and proprioceptive accuracy can play a pivotal role in the management of knee OA. This study aimed to investigate the effects of Kinesio tape and flexible knee orthosis in terms of clinical and neuromuscular outcomes in patients with knee OA. Methods: This clinical trial was conducted on 56 patients with knee OA, randomly allocated to two groups: knee orthosis or Kinesio tape. The knee orthosis group wore a neoprene knee support for 4 weeks. For participants in the Kinesio tape group, tape was applied once a week, for 4 weeks. The primary outcomes were pain intensity and physical function evaluated through the visual analog scale and the Western Ontario and McMaster OA index. The secondary outcomes were concentric and isometric quadriceps strength, Joint Position Sense (JPS), Threshold to Detect Passive Motion (TTDPM), and force sense (FS), all measured by isokinetic dynamometry. Results: All outcome measures were significantly improved in the orthosis group. The Kinesio tape group also demonstrated significant changes in all outcome measures except three proprioception components namely JPS (70° target), FS, and TTDPM. At the end of the fourth week, there were no significant between-group differences for measured parameters. Conclusion: Wearing a flexible knee orthosis and/or Kinesio tape for 4 weeks significantly improved knee pain, physical function, and quadriceps strength. Although knee orthosis showed significant beneficial effects on various components of proprioception, there were no significant differences between the two groups at the end of the 4-week intervention.

Immediate effects of a buffered knee orthosis on gait in stroke patients with knee hyperextension.

BACKGROUND: Patients exhibit considerable variations in gait patterns especially in knee hyperextension in the stance phase after stroke. If knee hyperextension is untreated it may lead to pain, reduced independence in activities of daily living, deformities and instability. OBJECTIVE: The aim of this study was to investigate the immediate effects of a buffered knee orthosis on gait of stroke patients with knee hyperextension. METHODS: A total of nine patients with knee hyperextension after stroke were selected to wear buffered knee orthosis developed by Zhongshan Traditional Chinese Medicine Hospital and Ruike Medical Technology (Shanghai) Co., Ltd during walking training and daily walking. Then the gait analysis system of Motionanalysis was used to analyze and evaluate kinematic and spatiotemporal parameters of the gait in patients with independent walking or walking with a buffered knee orthosis. RESULTS: After wearing the buffered knee brace, initial contact, maximum and minimum angles of support phase, the toe off the ground, maximum and minimum angles of swing phase on the injured side of knee and ankle increased. Minimum angle of support phase and maximum angle of swing phase on the uninjured side of ankle decreased, while the toe off the ground and minimum angles of swing phase increased significantly (all P< 0.05); There was no significant difference in other kinematics, in parameters between time and space, in walking speed among subjective gait parameters (P> 0.05). Walking distance, confidence, sense of security, and the feeling of walking hyperextension were all improved. In addition, the number of asymmetric kinematic parameters and spatiotemporal parameters decreased. CONCLUSION: The buffered knee orthosis can effectively prevent knee hyperextension after stroke, improve the knee and ankle sagittal motion, gait asymmetry, gait subjective feeling, and does not affect gait space-time parameters.

Tricompartment offloader knee brace reduces sagittal plane knee moments, quadriceps muscle activity, and pain during chair rise and lower in individuals with knee osteoarthritis.

The Levitation tricompartment offloader (TCO) knee brace provides an assistive knee extension moment with the goal of unloading all three compartments of the knee and reducing pain for individuals with multicompartment knee osteoarthritis (OA). This study aimed to determine the effect of the TCO brace on sagittal plane knee moments, quadriceps muscle activity, and pain in individuals with multicompartment knee OA. Lower limb kinematics, kinetics, and electromyography data were collected during a chair rise and lower to determine differences between bracing conditions. TCO brace use significantly decreased the peak net knee external flexion moment in high power mode, providing extension assistance during chair rise [p<0.001; mean difference (MD) (98.75% CI) -0.8 (-1.0, -0.6)%BWxH] and bodyweight support during chair lower [p<0.001; -1.1 (-1.6, -0.7)%BWxH]. Quadriceps activation intensity was significantly reduced with brace use by up to 67% for the vastus medialis [Z = -2.55, p = 0.008] and up to 39% for the vastus lateralis [Z = -2.67, p = 0.004]. Participants reported significantly reduced knee pain with the TCO brace worn in high power mode compared to the no brace condition [p = 0.014; MD (97.5% CI) -18.8 (-32.22, -2.34) mm]. These results support the intended mechanism of joint unloading via extension assistance with the TCO brace. The observed biomechanical changes were accompanied by immediate reductions in user reported pain levels, and support the use of the TCO for conservative management to reduce knee pain in patients with multicompartment knee OA.

Effect of Knee Orthosis Pressure Variation on Muscle Activities during Sit-to-Stand Motion in Patients with Knee Osteoarthritis.

It is yet not known whether the variation in knee orthotics pressure would lead to changes in muscle activity during-sit-to-stand postural transition in patients with knee osteoarthritis (OA). Participants in this analytical study were patients with knee OA. The research design was a cross-sectional study. They were enrolled in the study through a sample of convenience method. The primary outcome measure was surface electromyography for measuring muscle activity while changing knee orthotics pressure during sit-to-stand motion. Data were summarized with mean and standard deviation while Friedman's test was performed for multiple comparison of variables, at a significance level of p = 0.05. Seven elderly patients with knee osteoarthritis (mean age 71.4 ± 11.8 years) participated in the study. Moderate orthotics (7.3 mmHg) led to a significant increase in the percentage maximum voluntary contraction (MVC) of tibialis anterior compared to that obtained without orthotics. Rectus femoris, vastus medialis, vastus lateralis, and biceps femoris tended to increase the % MVC with an increase in wearing pressure. It was therefore concluded that the muscle activity during sit-to-stand motion could be increased in patients with knee osteoarthritis by wearing flexible orthotics with varying pressure.

Comparing Gait with Multiple Physical Asymmetries Using Consolidated Metrics.

Physical changes such as leg length discrepancy, the addition of a mass at the distal end of the leg, the use of a prosthetic, and stroke frequently result in an asymmetric gait. This paper presents a metric that can potentially serve as a benchmark to categorize and differentiate between multiple asymmetric bipedal gaits. The combined gait asymmetry metric (CGAM) is based on modified Mahalanobis distances, and it utilizes the asymmetries of gait parameters obtained from motion capture and force data recorded during human walking. The gait parameters that were used in this analysis represent spatio-temporal, kinematic, and kinetic parameters. This form of a consolidated metric will help researchers identify overall gait asymmetry by showing them if the overall gait symmetry is improving and avoid the case where one parameter's symmetry is improving while another is getting worse. The CGAM metric successfully served as a measure for overall symmetry with eleven different gait parameters and successfully showed differences among gait with multiple physical asymmetries. The results showed that mass at the distal end had a larger magnitude on overall gait asymmetry compared to leg length discrepancy. It also showed that the combined effects are varied based on the cancelation effect between gait parameters. The metric was also successful in delineating the differences of prosthetic gait and able-bodied gait at three different walking velocities.

Effects of knee orthosis adjustment on biomechanical performance and clinical outcome in patients with medial knee osteoarthritis.

BACKGROUND: Valgus bracing in medial knee osteoarthritis aims to improve gait function by reducing the loading of the medial compartment. Orthosis composition and optimal adjustment is essential to achieve biomechanical and clinical effectiveness. OBJECTIVES: To investigate biomechanical functionality during gait, pain relief and compliance in patients with knee osteoarthritis using a lightweight adjustable knee unloader orthosis. STUDY DESIGN: Prospective observational clinical trial. METHODS: Instrumented gait analysis in 22 patients with unilateral medial knee osteoarthritis was performed after a 2-week orthosis acclimatisation period. Kinematics and kinetics during gait as well as force transmission from the orthosis to the knee were analysed. Measurements were performed without, at individualised and at reduced orthosis setting. The assessment was supplemented by patient-related pain sensation and compliance questionnaires. RESULTS: Orthosis wear significantly reduced the knee adduction moment by up to 20% depending on orthosis adjustment, whereas pain sensation was significantly reduced by 16%. A significant positive correlation was found between force transmissions and knee adduction moment as well as for frontal knee angle. Compliance was good with a main daily use of 2-6 h. CONCLUSION: The orthosis provides significant biomechanical improvements, pain relief and good patient compliance. Patients had a biomechanical benefit for the individualised and reduced orthosis adjustments. Clinical relevance In patients with medial knee osteoarthritis, a lightweight medial unloader orthosis effectively reduced external knee adduction moment and pain sensation during daily activities. Thus, use of lightweight orthoses effectively supports conservative treatment in medial knee osteoarthritis.

Characterisation of in-vivo mechanical action of knee braces regarding their anti-drawer effect.

BACKGROUND: The knee joint is vulnerable to various injuries and degenerative conditions, potentially leading to functional instability. Usual treatments involve knee orthoses to support the joint. However, the level of mechanical action of these devices remains controversial despite high prescription and demand. METHODS: The mechanical ability of three commercial hinged knee braces and one sleeve to prevent a static drawer was evaluated using a GNRB arthrometer. The testing of both pathological and healthy joints was performed on 16 patients with documented injuries involving the ACL, and an original method allowed decoupling the contribution of the brace. RESULTS: The mean stiffness of the three hinged braces ranged between 2.0 and 7.1 N/mm. The most efficient brace was able to exert a restraining force on the joint equivalent to the one exerted by a healthy ACL, up to a 2.8 mm anterior displacement of the tibia. For higher anterior displacements, the restraining force of the brace dropped below the level of action of the intact ACL because of the particular non-linear behaviour of this structure. Finally, the most efficient brace was found to vary from subject to subject. CONCLUSIONS: This study confirmed that fabric-based knee braces may effectively replace the passive mechanical role of the ACL within the low stiffness region of this structure. Although bracing may have other benefits (e.g., proprioception), this shows that they act as an effective passive restraint to low grade anterior laxities. Besides, a high patient-specificity of their effects highlighted the need of personalised objective testing for brace selection.

Reduced knee hyperextension after wearing a robotic knee orthosis during gait training--a case study.

This case study describes the effects of a wearable dynamic knee orthosis to supplement walking training in a patient suffering knee hyperextension. The subject was a 57-year old female who was 3.5 years post-brain tumor surgery. She was presented with impaired right lower extremity muscle performance, increased lower extremity muscle tension, and right knee hyperextension. She reported pain at the right knee joint and tibialis anterior after 10 minutes of over-ground walk. Fifteen one-hour sessions of gait training with robotic knee orthosis (RKO) were provided an over 3 weeks period. The subject demonstrated improvement with right lower limb kinematic and kinetic measures of gait. Peak flexion degree and moment increased (from -4.99° to 13.47°, and from 0.18 Nm/kg to 0.20 Nm/kg respectively).Extension peak moment decreased from 1.03 Nm/kg to 0.53 Nm/kg. Knee joint force decreased from 0.68 N to 0.45 N. Ground reaction force (GRF) reduced from 11.06N to 10.11N. Berg Balance Scale (BBS) improved from 45/56 to 51/56. No difference was observed in Fugl-Meyer Assessment of the Lower limb (FMA-LE) scores. Gait training that integrates an intention-based RKO for correcting knee hyperextension can be clinically effective. The persistence and generalizability of these results need to be further investigated.