2018, Volume 4, Issue 4
Engineering >> 2018, Volume 4, Issue 4 doi: 10.1016/j.eng.2018.07.011
Unpowered Knee Exoskeleton Reduces Quadriceps Activity during Cycling
Department of Robotics, Tohoku University, Sendai 980-8579, Japan
Next Previous
Abstract
Cycling is an eco-friendly method of transport and recreation. With the intent of reducing the energy cost of cycling without providing an additional energy source, we have proposed the use of a torsion spring for knee-extension support. We developed an exoskeleton prototype using a crossing four-bar mechanism as a knee joint with an embedded torsion spring. This study evaluates the passive knee exoskeleton using constant-power cycling tests performed by eight healthy male participants. We recorded the surface electromyography over the rectus femoris muscles of both legs, while the participants cycled at 200 and 225W on a trainer with the developed wheel-accelerating system. We then analyzed these data in time–frequency via a continuous wavelet transform. At the same cycling speed and leg cadence, the median power spectral frequency of the electromyography increases with cycling load. At the same cycling load, the median power spectral frequency decreases when cycling with the exoskeleton. Quadriceps activity can be relieved despite the exoskeleton consuming no electrical energy and not delivering net-positive mechanical work. This fundamental can be applied to the further development of wearable devices for cycling assistance.
Keywords
Augmentation ; Cycling ; Energy cost ; Electromyography ; Exoskeleton ; Knee ; Orthosis ; Muscle activity
Figures
Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
References
[ 1 ] Bynum EB, Barrack RL, Alexander AH. Open versus closed chain kinetic exercises after anterior cruciate ligament reconstruction. A prospective randomized study. Am J Sports Med 1995;23(4):401–6. link1
[ 2 ] McLeod WD, Blackburn TA. Biomechanics of knee rehabilitation with cycling. Am J Sports Med 1980;8(3):175–80. link1
[ 3 ] Hull ML, Jorge M. A method for biomechanical analysis of bicycle pedalling. J Biomech 1985;18(9):631–44.
[ 4 ] Caldwell GE, Hagberg JM, McCole SD, Li L. Lower extremity joint moments during uphill cycling. J Appl Biomech 1999;15(2):166–81. link1
[ 5 ] Jorge M, Hull ML. Analysis of EMG measurements during bicycle pedalling. J Biomech 1986;19(9):683–94. link1
[ 6 ] Li L, Caldwell GE. Muscle coordination in cycling: effect of surface incline and posture. J Appl Physiol 1998;85(3):927–34. link1
[ 7 ] Da Silva JC, Tarassova O, Ekblom MM, Andersson E, Rönquist G, Arndt A. Quadriceps and hamstring muscle activity during cycling as measured with intramuscular electromyography. Eur J Appl Physiol 2016;116(9):1807–17. link1
[ 8 ] Houtz SJ, Fischer FJ. An analysis of muscle action and joint excursion during exercise on a stationary bicycle. J Bone Joint Surg 1959;41-A(1):123–31. link1
[ 9 ] Hirata Y, Isoda T, Kosuge K. Development of passive wearable walking support system based on brake control. In: Proceedings of the 2008 IEEE International Conference on Mechatronics and Automation; 2008 Aug 5–8; Takamatsu, Japan; 2008. p. 363–8. link1
[10] Dollar AM, Herr H. Design of a quasi-passive knee exoskeleton to assist running. In: Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2008 Sep 22–26; Nice, France; 2008. p. 747–54. link1
[11] Spring AN, Kofman J, Lemaire ED. Design and evaluation of an orthotic knee- extension assist. IEEE Trans Neural Syst Rehabil Eng 2012;20(5):678–87. link1
[12] Collins SH, Wiggin MB, Sawicki GS. Reducing the energy cost of human walking using an unpowered exoskeleton. Nature 2015;522(7555):212–5. link1
[13] Chaichaowarat R, Paez GDF, Kinugawa J, Kosuge K. Passive knee exoskeleton using torsion spring for cycling assistance. In: IROS 2017: Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2017 Sep 24–28; Vancouver, BC, Canada; 2018. link1
[14] Bertomeu JM, Lois JM, Guillem RB, Pozo AP, Lacuesta J, Mollà CG, et al. Development of a hinge compatible with the kinematics of the knee joint. Prosthet Orthot Int 2007;31(4):371–83. link1
[15] Walker PS, Kurosawa H, Rovick JS, Zimmerman RA. External knee joint design based on normal motion. J Rehabil Res Dev 1985;22(1):9–22. link1
[16] Kurosawa H, Walker PS, Abe S, Garg A, Hunter T. Geometry and motion of the knee for implant and orthotic design. J Biomech 1985;18(7):487–99.
[17] Wozniak Timmer CA. Cycling biomechanics: a literature review. J Orthop Sports Phys Ther 1991;14(3):106–13. link1
[18] Ericson MO, Nisell R, Arborelius UP, Ekholm J. Muscular activity during ergometer cycling. Scand J Rehabil Med 1985;17(2):53–61. link1
[19] Faria IE, Cavanagh PR. The physiology and biomechanics of cycling. New York: John Wiley and Sons; 1978.
[20] Dantas JL, Camata TV, Brunetto MA, Moraes AC, Abrão T, Altimari LR. Fourier and wavelet spectral analysis of EMG signals in isometric and dynamic maximal effort exercise. In: Proceedings of the 2010 IEEE/EMBS Annual International Conference; 2010 Aug 31–Sep 4; Buenos Aires, Argentina; 2010. p. 5979–82. link1
[21] Karlsson JS, Ostlund N, Larsson B, Gerdle B. An estimation of the influence of force decrease on the mean power spectral frequency shift of the EMG during repetitive maximum dynamic knee extensions. J Electromyogr Kinesiol 2003;13(5):461–8. link1
[22] Knaflitz M, Molinari F. Assessment of muscle fatigue during biking. IEEE Trans Neural Syst Rehabil Eng 2003;11(1):17–23. link1
京公网安备 11010502051620号
