Users Maintain Task Accuracy and Gait Characteristics During Missed Exoskeleton Actuations Through Adaptations In Joint Kinematics.

In operational settings, lower-limb active exoskeletons may experience errors, where an actuation that should be present is missed. These missed actuations may impact users' trust in the system and the adapted human-exoskeleton coordination strategies. In this study, we introduced pseudorandom catch trials, in which an assistive exoskeleton torque was not applied, to understand the immediate responses to missed actuations and how users' internal models to an exoskeleton adapt upon repeated exposure to missed actuations. Participants (N = 15) were instructed to complete a stepping task while wearing a bilateral powered ankle exoskeleton. Human-exoskeleton coordination and trust were inferred from task performance (step accuracy), step characteristics (step length and width), and joint kinematics at selected peak locations of the lower limb. Step characteristics and task accuracy were not impacted by the loss of exoskeleton torque as hip flexion was modulated to support completing the stepping task during catch trials, which supports an impacted human-exoskeleton coordination. Reductions in ankle plantarflexion during catch trials suggest user adaptation to the exoskeleton. Trust was not impacted by catch trials, as there were no significant differences in task performance or gait characteristics between earlier and later strides. Understanding the interactions between human-exoskeleton coordination, task accuracy, and step characteristics will support development of exoskeleton controllers for non-ideal operational settings.

Impact of Haptic Cues and an Active Ankle Exoskeleton on Gait Characteristics.

OBJECTIVE: This study examined the interaction of gait-synchronized vibrotactile cues with an active ankle exoskeleton that provides plantarflexion assistance. BACKGROUND: An exoskeleton that augments gait may support collaboration through feedback to the user about the state of the exoskeleton or characteristics of the task. METHODS: Participants (N = 16) were provided combinations of torque assistance and vibrotactile cues at pre-specified time points in late swing and early stance while walking on a self-paced treadmill. Participants were either given explicit instructions (N = 8) or were allowed to freely interpret (N=8) how to coordinate with cues. RESULTS: For the free interpretation group, the data support an 8% increase in stride length and 14% increase in speed with exoskeleton torque across cue timing, as well as a 5% increase in stride length and 7% increase in speed with only vibrotactile cues. When given explicit instructions, participants modulated speed according to cue timing-increasing speed by 17% at cues in late swing and decreasing speed 11% at cues in early stance compared to no cue when exoskeleton torque was off. When torque was on, participants with explicit instructions had reduced changes in speed. CONCLUSION: These findings support that the presence of torque mitigates how cues were used and highlights the importance of explicit instructions for haptic cuing. Interpreting cues while walking with an exoskeleton may increase cognitive load, influencing overall human-exoskeleton performance for novice users. APPLICATION: Interactions between haptic feedback and exoskeleton use during gait can inform future feedback designs to support coordination between users and exoskeletons.

Actuation Timing Perception of a Powered Ankle Exoskeleton and Its Associated Ankle Angle Changes During Walking.

Robotic ankle exoskeletons have the potential to extend human ability, and actuation timing serves as one of the critical parameters in its controller design. While many experiments have investigated the optimal actuation timing values to achieve different objective functions (e.g. minimizing metabolic cost), studies on users' perception of control parameters are gaining interest as it gives information on people's comfort, coordination, and trust in using devices, as well as providing foundations on how the sensorimotor system detects the exoskeleton behavior changes. The purpose of this study was to evaluate people's sensitivity to changes in exoskeleton actuation timing and its associated exoskeleton ankle angle changes during walking. Participants (n =15) with little or no prior experience with ankle exoskeletons were recruited and performed a psychophysical experiment to characterize their just-noticeable difference (JND) thresholds for actuation timing. Participants wore a bilateral active ankle exoskeleton and compared pairs of torque profiles with different actuation timings and low peak torque (0.225 Nm/kg) while walking on the treadmill. The mean timing JND across participants was 2.8±0.6% stride period. Individuals exhibited different sensitivity towards actuation timing, and their associated exoskeleton ankle angle changes also varied. The variance in ankle angle changes might be explained by their differences in ankle stiffness and different ankle torques provided during walking. The results provide insights into how people perceive the changes in exoskeleton control parameters and show individual differences in exoskeleton usage. The actuation timing JND found in this study can also help determine the necessary controller precision.

Raman needle arthroscopy for in vivo molecular assessment of cartilage.

The development of treatments for osteoarthritis (OA) is burdened by the lack of standardized biomarkers of cartilage health that can be applied in clinical trials. We present a novel arthroscopic Raman probe that can "optically biopsy" cartilage and quantify key extracellular matrix (ECM) biomarkers for determining cartilage composition, structure, and material properties in health and disease. Technological and analytical innovations to optimize Raman analysis include (1) multivariate decomposition of cartilage Raman spectra into ECM-constituent-specific biomarkers (glycosaminoglycan [GAG], collagen [COL], water [H2 O] scores), and (2) multiplexed polarized Raman spectroscopy to quantify superficial zone (SZ) COL anisotropy via a partial least squares-discriminant analysis-derived Raman collagen alignment factor (RCAF). Raman measurements were performed on a series of ex vivo cartilage models: (1) chemically GAG-depleted bovine cartilage explants (n = 40), (2) mechanically abraded bovine cartilage explants (n = 30), (3) aging human cartilage explants (n = 14), and (4) anatomical-site-varied ovine osteochondral explants (n = 6). Derived Raman GAG score biomarkers predicted 95%, 66%, and 96% of the variation in GAG content of GAG-depleted bovine explants, human explants, and ovine explants, respectively (p < 0.001). RCAF values were significantly different for explants with abrasion-induced SZ COL loss (p < 0.001). The multivariate linear regression of Raman-derived ECM biomarkers (GAG and H2 O scores) predicted 94% of the variation in elastic modulus of ovine explants (p < 0.001). Finally, we demonstrated the first in vivo Raman arthroscopy assessment of an ovine femoral condyle through intraarticular entry into the synovial capsule. This study advances Raman arthroscopy toward a transformative low-cost, minimally invasive diagnostic platform for objective monitoring of treatment outcomes from emerging OA therapies.

Perception of Powered Ankle Exoskeleton Actuation Timing During Walking: A Pilot Study.

Actuation timing is an important parameter in powered ankle exoskeleton control that can significantly influence user experience and human-system performance. Previous studies have investigated the actuation timing through optimization under different objective functions, such as minimizing metabolic cost. However, little is known about people's psychological sense of actuation timing. This pilot study measured two subjects' sensitivity to small changes in actuation timing during walking. The just-noticeable difference (JND) threshold was determined via a fitted psychometric function, which quantified subjects' performance in discriminating between a pair of actuation timings. Subjects could detect changes of 3.6% and 6.8% stride period in actuation timing respectively, showing the difference in perception between individuals. The results from this pilot study provide a preliminary understanding of human perception towards exoskeleton control parameters, which offers insight on individual differences in exoskeleton usage and informs exoskeleton precision requirements to minimize undesired human-system interaction.