緊張構造を利用した松葉杖：予張力自己張力モジュールによるコンプライアンスが地面反力プロファイル、速度、労力、快適性、知覚安定性を改善
Tensegrity crutches with compliance from a pre-stressed self-tensile module improve ground reaction force profiles, speed, effort, comfort, and perceived stability
剛性・ばね式の既存松葉杖と比較し、生体模倣のテンセグリティ構造モジュールを備えた松葉杖が、機械試験と人間試験で荷重率低減、労力・快適性・疼痛・使いやすさの改善を示した。
著者: Jingxian Gu, Joanna Spyra, Andrew Walski, Lyla Elsaesser, Samuel Bierner, Dobromir Dotov
分類: cs.RO, nlin.AO
原文アブストラクト
Purpose: Six million people use crutches as mobile aids in the US. Rigid designs with no axial mobility limit sensory feedback and lead to secondary injury on the upper joints. Spring-loaded designs offer compliance but may compromise stability. We designed a biologically inspired tensegrity crutch with a compliant module aiming to achieve favorable mechanical properties. The terminal module was a pre-stressed self-tensile two-cell tensegrity structure. We compared the tensegrity crutch to commercial rigid and spring-loaded crutches in mechanical tests using axial loading, in overground straight and turning walking, and in participant experience. Methods: In human trials, healthy young adults (N=18) with no recent lower-body injury performed straight walking and turning trials at a comfortable self-selected pace. A knee blocker simulated unilateral injury of the dominant leg. After using each type of crutch, participants reported their perceived levels of effort, comfort, pain, stability, and usability. Results: Compared to the rigid design, both spring-loaded and tensegrity conditions reduced peak loading rates. The tensegrity design improved effort, comfort, pain, and usability. Spring-loaded crutches reduced perceived stability and walking speed. Conclusion: The biologically inspired tensegrity crutches were an overall improvement to existing designs. Simulations and mechanical testing suggest that nonlinear stiffness, ground-following, and force feedback are among the beneficial mechanical properties that underlie this improvement.