Human-Robot Interaction: Kinematics and Muscle Activity Inside a Powered Compliant Knee Exoskeleton

Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and mus...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE transactions on neural systems and rehabilitation engineering Jg. 22; H. 6; S. 1128 - 1137
Hauptverfasser:	Knaepen, Kristel, Beyl, Pieter, Duerinck, Saartje, Hagman, Friso, Lefeber, Dirk, Meeusen, Romain
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	United States IEEE 01.11.2014 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Adult Braces Compliant Computer Simulation Devices driven knee exoskeleton Elastic Modulus Equipment Design Equipment Failure Analysis Exoskeletons Gait - physiology Human Human-robot interaction Humans Kinematics Knee Knee Joint - physiology Knees Legged locomotion Male Man-Machine Systems Medical research Models, Biological muscle activity Muscle Contraction - physiology Muscle, Skeletal - physiology Muscles Orthotic Devices Range of Motion, Articular - physiology Robotics - instrumentation Therapy, Computer-Assisted - instrumentation Therapy, Computer-Assisted - methods Trajectories Walking
ISSN:	1534-4320, 1558-0210, 1558-0210
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Abstract	Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore, temporal and spatial gait parameters, human joint kinematics, exoskeleton kinetics and muscle activity during four different walking trials in 10 healthy male subjects were studied. Healthy subjects can walk with KNEXO in patient-in-charge mode with some slight constraints in kinematics and muscle activity primarily due to inertia of the device. Yet, during robot-in-charge walking the muscular constraints are reversed by adding positive power to the leg swing, compensating in part this inertia. Next to that, KNEXO accurately records and replays the right knee kinematics meaning that subject-specific trajectories can be implemented as a target trajectory during assisted walking. No significant differences in the human response to the interaction with KNEXO in low and high compliant assistance could be pointed out. This is in contradiction with our hypothesis that muscle activity would decrease with increasing assistance. It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects. Moreover, we should take into account that KNEXO is a unilateral, 1 degree-of-freedom device.
AbstractList	Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore, temporal and spatial gait parameters, human joint kinematics, exoskeleton kinetics and muscle activity during four different walking trials in 10 healthy male subjects were studied. Healthy subjects can walk with KNEXO in patient-in-charge mode with some slight constraints in kinematics and muscle activity primarily due to inertia of the device. Yet, during robot-in-charge walking the muscular constraints are reversed by adding positive power to the leg swing, compensating in part this inertia. Next to that, KNEXO accurately records and replays the right knee kinematics meaning that subject-specific trajectories can be implemented as a target trajectory during assisted walking. No significant differences in the human response to the interaction with KNEXO in low and high compliant assistance could be pointed out. This is in contradiction with our hypothesis that muscle activity would decrease with increasing assistance. It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects. Moreover, we should take into account that KNEXO is a unilateral, 1 degree-of-freedom device. Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore, temporal and spatial gait parameters, human joint kinematics, exoskeleton kinetics and muscle activity during four different walking trials in 10 healthy male subjects were studied. Healthy subjects can walk with KNEXO in patient-in-charge mode with some slight constraints in kinematics and muscle activity primarily due to inertia of the device. Yet, during robot-in-charge walking the muscular constraints are reversed by adding positive power to the leg swing, compensating in part this inertia. Next to that, KNEXO accurately records and replays the right knee kinematics meaning that subject-specific trajectories can be implemented as a target trajectory during assisted walking. No significant differences in the human response to the interaction with KNEXO in low and high compliant assistance could be pointed out. This is in contradiction with our hypothesis that muscle activity would decrease with increasing assistance. It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects. Moreover, we should take into account that KNEXO is a unilateral, 1 degree-of-freedom device.Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore, temporal and spatial gait parameters, human joint kinematics, exoskeleton kinetics and muscle activity during four different walking trials in 10 healthy male subjects were studied. Healthy subjects can walk with KNEXO in patient-in-charge mode with some slight constraints in kinematics and muscle activity primarily due to inertia of the device. Yet, during robot-in-charge walking the muscular constraints are reversed by adding positive power to the leg swing, compensating in part this inertia. Next to that, KNEXO accurately records and replays the right knee kinematics meaning that subject-specific trajectories can be implemented as a target trajectory during assisted walking. No significant differences in the human response to the interaction with KNEXO in low and high compliant assistance could be pointed out. This is in contradiction with our hypothesis that muscle activity would decrease with increasing assistance. It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects. Moreover, we should take into account that KNEXO is a unilateral, 1 degree-of-freedom device.
Author	Meeusen, Romain Lefeber, Dirk Duerinck, Saartje Beyl, Pieter Knaepen, Kristel Hagman, Friso
Author_xml	– sequence: 1 givenname: Kristel surname: Knaepen fullname: Knaepen, Kristel email: kknaepen@vub.ac.be organization: Dept. of Human Physiology&Sports Medicine, Vrije Universiteit Brussel, Brussels, Belgium – sequence: 2 givenname: Pieter surname: Beyl fullname: Beyl, Pieter email: Pieter.Beyl@sirris.be organization: Dept. of Mechatronics, Sirris, Heverlee, Belgium – sequence: 3 givenname: Saartje surname: Duerinck fullname: Duerinck, Saartje email: sduerinc@vub.ac.be organization: Dept. of Experimental Anatomy, Vrije Universiteit Brussel, Brussel – sequence: 4 givenname: Friso surname: Hagman fullname: Hagman, Friso email: frisohagman@yahoo.com organization: R & D Dept., RSscan International NV, Paal, Belgium – sequence: 5 givenname: Dirk surname: Lefeber fullname: Lefeber, Dirk email: dlefeber@vub.ac.be organization: Robotics & Multibody Mechanics research group, Vrije Universiteit Brussel, Brussels, Belgium – sequence: 6 givenname: Romain surname: Meeusen fullname: Meeusen, Romain email: rmeeusen@vub.ac.be organization: Human Physiology & Sports Medicine, Vrije Universiteit Brussel, Brussels, Belgium
BackLink	https://www.ncbi.nlm.nih.gov/pubmed/24846650$$D View this record in MEDLINE/PubMed
BookMark	eNqNkktv1DAURi1URNuBPwASssSmmwx-x8OuGk1p1fJQKWvLcW4kl8Sexg7Qf4_DTFl0gbqxLd3zXdn3-BgdhBgAodeULCklq_c3n79db5aMULFknAkq-TN0RKXUFWGUHMxnLirBGTlExyndEkJrJesX6JAJLZSS5Ai582mwobqOTcz4ImQYrcs-hg_40gcYbPYuYRta_GlKrgd8Wqo_fb4vbPItYIu_xl8wQovXcdj23oaMLwMA3vyO6Qf0kGN4iZ53tk_war8v0Pezzc36vLr68vFifXpVOaF5rijjol05yVpYyU51oLWVgjUciCS85a2tiWyUYNJ2ne6kUmWR1qlGdq5RLV-gk13f7RjvJkjZDD456HsbIE7JUCWpoExx-QSUS1LIWjwBZbVa1fMdF-jdI_Q2TmMob54pVdd8pXWh3u6pqRmgNdvRD3a8Nw9SCqB3gBtjSiN0xvlsZyt5tL43lJjZv_nr38z-zd5_ibJH0Yfu_w292YU8APwLKF1-S5nDH6xlubM
CODEN	ITNSB3
CitedBy_id	crossref_primary_10_1007_s13534_016_0211_9 crossref_primary_10_1016_j_clinbiomech_2020_105133 crossref_primary_10_3389_fbioe_2022_842294 crossref_primary_10_3390_app10072536 crossref_primary_10_1007_s12206_021_0637_6 crossref_primary_10_3390_s23020791 crossref_primary_10_3390_app12125979 crossref_primary_10_3390_app8122638 crossref_primary_10_1017_S0263574720001216 crossref_primary_10_1016_j_procir_2015_12_036 crossref_primary_10_3390_biomimetics9030129 crossref_primary_10_1155_2018_9573951 crossref_primary_10_1109_JSEN_2016_2570281 crossref_primary_10_1016_j_robot_2019_01_013 crossref_primary_10_1007_s11370_023_00479_1 crossref_primary_10_1016_j_bspc_2024_106188 crossref_primary_10_1109_TNSRE_2016_2582321 crossref_primary_10_1038_s41598_018_31828_1 crossref_primary_10_1016_j_isatra_2024_07_007 crossref_primary_10_1109_TNSRE_2024_3498044 crossref_primary_10_20965_jrm_2022_p0072 crossref_primary_10_1016_j_robot_2019_103394 crossref_primary_10_1080_02564602_2023_2185691 crossref_primary_10_3390_s22239177 crossref_primary_10_1017_S0263574719000663 crossref_primary_10_1109_TNSRE_2020_2972323 crossref_primary_10_1155_2020_7451683 crossref_primary_10_1109_TNSRE_2023_3287867 crossref_primary_10_1155_2017_9053630 crossref_primary_10_1088_1742_6596_1418_1_012021 crossref_primary_10_1109_LRA_2022_3186066 crossref_primary_10_1016_j_mechatronics_2016_06_002 crossref_primary_10_1007_s42235_022_00168_2 crossref_primary_10_1016_j_isatra_2017_08_004 crossref_primary_10_1109_TBME_2021_3083580 crossref_primary_10_1051_matecconf_201929201033 crossref_primary_10_3390_app12136459 crossref_primary_10_1109_THMS_2020_2989688 crossref_primary_10_1016_j_ifacol_2017_08_129 crossref_primary_10_1109_TNSRE_2016_2595501 crossref_primary_10_1109_THMS_2024_3371099 crossref_primary_10_1109_TMECH_2020_2990668 crossref_primary_10_1007_s12555_017_0011_8 crossref_primary_10_3389_fnins_2018_00071 crossref_primary_10_1007_s40815_021_01051_8 crossref_primary_10_1080_17483107_2024_2415433 crossref_primary_10_3389_fbioe_2023_1021525 crossref_primary_10_3390_s23094517 crossref_primary_10_1109_TBME_2019_2892084 crossref_primary_10_3389_fnhum_2021_749017 crossref_primary_10_1080_01691864_2016_1175382 crossref_primary_10_1109_TVCG_2023_3308940 crossref_primary_10_1016_j_mechmachtheory_2019_01_016 crossref_primary_10_1088_1741_2552_abf0d5 crossref_primary_10_1177_0954411919898293 crossref_primary_10_3390_robotics12020044 crossref_primary_10_3390_s20092452 crossref_primary_10_1109_TNSRE_2016_2613886 crossref_primary_10_1016_j_ejcon_2020_07_005 crossref_primary_10_1115_1_4035496
Cites_doi	10.1152/jn.01095.2006 10.1007/s12369-009-0042-2 10.1163/016918611X558225 10.1186/1743-0003-7-43 10.1152/jn.00143.2004 10.1109/TNSRE.2008.925074 10.1186/1743-0003-9-57 10.1682/JRRD.2005.04.0073 10.1109/IEMBS.2010.5626416 10.1109/ROBOT.2006.1641156 10.1186/1743-0003-6-17 10.1016/j.clinbiomech.2004.09.016 10.1163/156855306777681357 10.1682/JRRD.2010.04.0055 10.1682/JRRD.2010.03.0044 10.1097/JES.0b013e3181b7b932 10.1109/TNSRE.2005.848628 10.1109/TNSRE.2008.918389 10.1109/ICORR.2011.5975493 10.1109/ICORR.2011.5975454 10.1109/TBME.2010.2089629 10.1310/tsr1803-269 10.1007/s11517-011-0816-1 10.1109/IROS.2011.6094832 10.1016/S1836-9553(10)70020-5 10.1109/IEMBS.2006.259397 10.1109/TNSRE.2011.2176960 10.2522/ptj.20080180 10.1109/ICORR.2007.4428547 10.1186/1743-0003-4-2 10.1109/TBME.2007.910683 10.1523/JNEUROSCI.1938-10.2010 10.1186/1743-0003-9-31 10.1080/11762320902784393 10.1109/TNSRE.2009.2033061 10.1109/ICORR.2011.5975415 10.1109/ICORR.2011.5975499 10.1109/TNSRE.2007.903922 10.1109/TNSRE.2008.2008278 10.1016/j.brainresrev.2007.09.002 10.1109/TNSRE.2008.2008280 10.1109/ICORR.2011.5975352 10.1109/IEMBS.2004.1404334 10.1109/TNSRE.2007.903919 10.1080/14399776.2001.10781119 10.1186/1743-0003-3-3 10.2340/16501977-0538 10.3233/NRE-130930 10.1016/j.clinbiomech.2008.08.004 10.1186/1743-0003-4-48 10.1016/j.brainresbull.2008.09.018 10.1093/brain/awg079 10.1177/0278364908095842 10.1682/JRRD.2005.02.0046 10.1109/TNSRE.2007.903930 10.1109/ICORR.2009.5209595 10.1097/PHM.0b013e31826bce79 10.1109/AIM.2001.936758 10.2522/ptj.20050266 10.1007/s00221-005-0162-3
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Nov 2014
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Nov 2014
DBID	97E RIA RIE AAYXX CITATION CGR CUY CVF ECM EIF NPM 7QF 7QO 7QQ 7SC 7SE 7SP 7SR 7TA 7TB 7TK 7U5 8BQ 8FD F28 FR3 H8D JG9 JQ2 KR7 L7M L~C L~D NAPCQ P64 7X8
DOI	10.1109/TNSRE.2014.2324153
DatabaseName	IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Medline MEDLINE MEDLINE (Ovid) MEDLINE MEDLINE PubMed Aluminium Industry Abstracts Biotechnology Research Abstracts Ceramic Abstracts Computer and Information Systems Abstracts Corrosion Abstracts Electronics & Communications Abstracts Engineered Materials Abstracts Materials Business File Mechanical & Transportation Engineering Abstracts Neurosciences Abstracts Solid State and Superconductivity Abstracts METADEX Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database Aerospace Database Materials Research Database ProQuest Computer Science Collection Civil Engineering Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional Nursing & Allied Health Premium Biotechnology and BioEngineering Abstracts MEDLINE - Academic
DatabaseTitle	CrossRef MEDLINE Medline Complete MEDLINE with Full Text PubMed MEDLINE (Ovid) Materials Research Database Civil Engineering Abstracts Aluminium Industry Abstracts Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Ceramic Abstracts Neurosciences Abstracts Materials Business File METADEX Biotechnology and BioEngineering Abstracts Computer and Information Systems Abstracts Professional Aerospace Database Nursing & Allied Health Premium Engineered Materials Abstracts Biotechnology Research Abstracts Solid State and Superconductivity Abstracts Engineering Research Database Corrosion Abstracts Advanced Technologies Database with Aerospace ANTE: Abstracts in New Technology & Engineering MEDLINE - Academic
DatabaseTitleList	MEDLINE Engineering Research Database Materials Research Database Technology Research Database MEDLINE - Academic
Database_xml	– sequence: 1 dbid: NPM name: PubMed url: http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed sourceTypes: Index Database – sequence: 2 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher – sequence: 3 dbid: 7X8 name: MEDLINE - Academic url: https://search.proquest.com/medline sourceTypes: Aggregation Database
DeliveryMethod	fulltext_linktorsrc
Discipline	Occupational Therapy & Rehabilitation
EISSN	1558-0210
EndPage	1137
ExternalDocumentID	3503479061 24846650 10_1109_TNSRE_2014_2324153 6817616
Genre	orig-research Research Support, Non-U.S. Gov't Journal Article
GrantInformation_xml	– fundername: GOA 59-ALTACRO
GroupedDBID	--- -~X 0R~ 29I 4.4 53G 5GY 5VS 6IK 97E AAFWJ AAJGR AASAJ AAWTH ABAZT ABVLG ACGFO ACGFS ACIWK ACPRK AENEX AETIX AFPKN AFRAH AGSQL AIBXA ALMA_UNASSIGNED_HOLDINGS BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD ESBDL F5P GROUPED_DOAJ HZ~ H~9 IFIPE IPLJI JAVBF LAI M43 O9- OCL OK1 P2P RIA RIE RNS AAYXX CITATION CGR CUY CVF ECM EIF NPM RIG 7QF 7QO 7QQ 7SC 7SE 7SP 7SR 7TA 7TB 7TK 7U5 8BQ 8FD F28 FR3 H8D JG9 JQ2 KR7 L7M L~C L~D NAPCQ P64 7X8
ID	FETCH-LOGICAL-c483t-1234d9c52de95f6fe88a542b3e0503d3da705b6425aff8f5668f55ac6b5fcb6d3
IEDL.DBID	RIE
ISICitedReferencesCount	80
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000345573500004&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	1534-4320 1558-0210
IngestDate	Fri Sep 05 06:44:08 EDT 2025 Tue Oct 07 09:49:16 EDT 2025 Thu Oct 02 06:52:18 EDT 2025 Sun Jul 13 03:44:28 EDT 2025 Wed Feb 19 01:51:55 EST 2025 Sat Nov 29 01:47:03 EST 2025 Tue Nov 18 21:24:08 EST 2025 Wed Aug 27 02:51:14 EDT 2025
IsPeerReviewed	true
IsScholarly	true
Issue	6
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c483t-1234d9c52de95f6fe88a542b3e0503d3da705b6425aff8f5668f55ac6b5fcb6d3
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 content type line 23
PMID	24846650
PQID	1626773988
PQPubID	85423
PageCount	10
ParticipantIDs	pubmed_primary_24846650 ieee_primary_6817616 proquest_miscellaneous_1635026374 crossref_primary_10_1109_TNSRE_2014_2324153 proquest_miscellaneous_1627697050 proquest_miscellaneous_1651412635 proquest_journals_1626773988 crossref_citationtrail_10_1109_TNSRE_2014_2324153
PublicationCentury	2000
PublicationDate	2014-Nov. 2014-11-00 2014-Nov 20141101
PublicationDateYYYYMMDD	2014-11-01
PublicationDate_xml	– month: 11 year: 2014 text: 2014-Nov.
PublicationDecade	2010
PublicationPlace	United States
PublicationPlace_xml	– name: United States – name: New York
PublicationTitle	IEEE transactions on neural systems and rehabilitation engineering
PublicationTitleAbbrev	TNSRE
PublicationTitleAlternate	IEEE Trans Neural Syst Rehabil Eng
PublicationYear	2014
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref57 ref56 ref12 ref59 ref15 ref14 ref53 ref52 ref55 ref11 ref54 ref10 ref17 ref16 ref19 ref18 reinkensmeyer (ref58) 2004; 7 ref51 ref50 krishnan (ref66) 2012 ref46 ref45 ref48 ref47 ref42 ref41 ref44 ref43 colombo (ref3) 2000; 37 ref49 fisher (ref5) 2011; 18 ref8 ref7 ref9 ref4 ref6 daerden (ref39) 1999 ref40 ref34 ref37 ref36 ref30 ref33 ref32 ref2 edgerton (ref25) 2009; 37 ref38 sawicki (ref24) 2006; 3 hesse (ref1) 2013; 33 riener (ref35) 2004 taub (ref13) 2006; 42 ref67 ref23 ref26 ref64 ref20 ref63 ref22 ref65 ref21 ref28 wang (ref31) 2011; 2011 ref27 ref29 ref60 ref62 ref61
References_xml	– ident: ref62 doi: 10.1152/jn.01095.2006 – ident: ref47 doi: 10.1007/s12369-009-0042-2 – ident: ref44 doi: 10.1163/016918611X558225 – start-page: 1397 year: 2004 ident: ref35 article-title: New developments in rehabilitation robotics publication-title: Proc IEEE Conf Mechatronics Robot – ident: ref29 doi: 10.1186/1743-0003-7-43 – ident: ref21 doi: 10.1152/jn.00143.2004 – ident: ref49 doi: 10.1109/TNSRE.2008.925074 – ident: ref65 doi: 10.1186/1743-0003-9-57 – ident: ref26 doi: 10.1682/JRRD.2005.04.0073 – ident: ref48 doi: 10.1109/IEMBS.2010.5626416 – ident: ref45 doi: 10.1109/ROBOT.2006.1641156 – volume: 42 start-page: 241 year: 2006 ident: ref13 article-title: The learned nonuse phenomenon: Implications for rehabilitation publication-title: Eura Medicophys – ident: ref38 doi: 10.1186/1743-0003-6-17 – ident: ref50 doi: 10.1016/j.clinbiomech.2004.09.016 – ident: ref42 doi: 10.1163/156855306777681357 – ident: ref8 doi: 10.1682/JRRD.2010.04.0055 – ident: ref15 doi: 10.1682/JRRD.2010.03.0044 – volume: 37 start-page: 171 year: 2009 ident: ref25 article-title: Activity-dependent plasticity of spinal locomotion: Implications for sensory processing publication-title: Exerc Sport Sci Rev doi: 10.1097/JES.0b013e3181b7b932 – ident: ref61 doi: 10.1109/TNSRE.2005.848628 – ident: ref36 doi: 10.1109/TNSRE.2008.918389 – ident: ref52 doi: 10.1109/ICORR.2011.5975493 – ident: ref16 doi: 10.1109/ICORR.2011.5975454 – ident: ref34 doi: 10.1109/TBME.2010.2089629 – volume: 18 start-page: 269 year: 2011 ident: ref5 article-title: Robot-assisted gait training for patients with hemiparesis due to stroke publication-title: Top Stroke Rehabil doi: 10.1310/tsr1803-269 – ident: ref33 doi: 10.1007/s11517-011-0816-1 – ident: ref67 doi: 10.1109/IROS.2011.6094832 – ident: ref10 doi: 10.1016/S1836-9553(10)70020-5 – ident: ref30 doi: 10.1109/IEMBS.2006.259397 – ident: ref54 doi: 10.1109/TNSRE.2011.2176960 – ident: ref18 doi: 10.2522/ptj.20080180 – ident: ref22 doi: 10.1109/ICORR.2007.4428547 – ident: ref4 doi: 10.1186/1743-0003-4-2 – ident: ref51 doi: 10.1109/TBME.2007.910683 – ident: ref19 doi: 10.1523/JNEUROSCI.1938-10.2010 – ident: ref53 doi: 10.1186/1743-0003-9-31 – ident: ref43 doi: 10.1080/11762320902784393 – ident: ref11 doi: 10.1109/TNSRE.2009.2033061 – ident: ref57 doi: 10.1109/ICORR.2011.5975415 – ident: ref28 doi: 10.1109/ICORR.2011.5975499 – ident: ref27 doi: 10.1109/TNSRE.2007.903922 – ident: ref59 doi: 10.1109/TNSRE.2008.2008278 – ident: ref23 doi: 10.1016/j.brainresrev.2007.09.002 – year: 2012 ident: ref66 article-title: Reducing robotic guidance during robot-assisted gait training improves gait function: A case report on a stroke survivor publication-title: Arch Phys Med Rehabil – ident: ref6 doi: 10.1109/TNSRE.2008.2008280 – ident: ref32 doi: 10.1109/ICORR.2011.5975352 – ident: ref60 doi: 10.1109/IEMBS.2004.1404334 – volume: 37 start-page: 693 year: 2000 ident: ref3 article-title: Treadmill training of paraplegic patients using a robotic orthosis publication-title: J Rehabil Res Dev – ident: ref7 doi: 10.1109/TNSRE.2007.903919 – ident: ref40 doi: 10.1080/14399776.2001.10781119 – volume: 3 start-page: 3 year: 2006 ident: ref24 article-title: The effects of powered ankle-foot orthoses on joint kinematics and muscle activation during walking in individuals with incomplete spinal cord injury publication-title: J Neuroeng Rehabil doi: 10.1186/1743-0003-3-3 – ident: ref9 doi: 10.2340/16501977-0538 – volume: 7 start-page: 4818 year: 2004 ident: ref58 article-title: Robotic gait training: Toward more natural movements and optimal training algorithms publication-title: Proc IEEE Eng Med Biol Soc Conf – volume: 33 start-page: 77 year: 2013 ident: ref1 article-title: Evidence of end-effector based gait machines in gait rehabilitation after CNS lesion publication-title: Neurorehabilitation doi: 10.3233/NRE-130930 – year: 1999 ident: ref39 publication-title: Conception and relization of pleated pneumatic artificial muscles and their use as compliant actuation elements – ident: ref17 doi: 10.1016/j.clinbiomech.2008.08.004 – ident: ref37 doi: 10.1186/1743-0003-4-48 – ident: ref14 doi: 10.1016/j.brainresbull.2008.09.018 – ident: ref20 doi: 10.1093/brain/awg079 – ident: ref46 doi: 10.1177/0278364908095842 – ident: ref2 doi: 10.1682/JRRD.2005.02.0046 – ident: ref55 doi: 10.1109/TNSRE.2007.903930 – volume: 2011 start-page: 5975442 year: 2011 ident: ref31 article-title: Model predictive control-based gait pattern generation for wearable exoskeletons publication-title: Proc IEEE Int Conf Rehabil Robot – ident: ref64 doi: 10.1109/ICORR.2009.5209595 – ident: ref63 doi: 10.1097/PHM.0b013e31826bce79 – ident: ref41 doi: 10.1109/AIM.2001.936758 – ident: ref12 doi: 10.2522/ptj.20050266 – ident: ref56 doi: 10.1007/s00221-005-0162-3
SSID	ssj0017657
Score	2.4028285
Snippet	Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the...
SourceID	proquest pubmed crossref ieee
SourceType	Aggregation Database Index Database Enrichment Source Publisher
StartPage	1128
SubjectTerms	Adult Braces Compliant Computer Simulation Devices driven knee exoskeleton Elastic Modulus Equipment Design Equipment Failure Analysis Exoskeletons Gait - physiology Human Human-robot interaction Humans Kinematics Knee Knee Joint - physiology Knees Legged locomotion Male Man-Machine Systems Medical research Models, Biological muscle activity Muscle Contraction - physiology Muscle, Skeletal - physiology Muscles Orthotic Devices Range of Motion, Articular - physiology Robotics - instrumentation Therapy, Computer-Assisted - instrumentation Therapy, Computer-Assisted - methods Trajectories Walking
Title	Human-Robot Interaction: Kinematics and Muscle Activity Inside a Powered Compliant Knee Exoskeleton
URI	https://ieeexplore.ieee.org/document/6817616 https://www.ncbi.nlm.nih.gov/pubmed/24846650 https://www.proquest.com/docview/1626773988 https://www.proquest.com/docview/1627697050 https://www.proquest.com/docview/1635026374 https://www.proquest.com/docview/1651412635
Volume	22
WOSCitedRecordID	wos000345573500004&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1558-0210 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0017657 issn: 1534-4320 databaseCode: RIE dateStart: 20010101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3da9RAEB_a4oMvVq0f0VpWUF80be7227dSrgjFo5wn3FvYTxAlKc2d-Oc7u8mFCnrgSwhkEnbz22Fmdmd-A_CGKmt4FWOJyymWTFtTWslMKbgLkQo1ZSHmZhNyPlerlb7egw9jLUwIISefhdN0m8_yfes2aavsTKgJRt1iH_alFH2t1nhiIEVm9UQFZiWj02pbIFPps-X8y2KWsrjYafIfUCRRADO0vCKV29-xR7nByr99zWxzLg__b7QP4cHgW5LzfjE8gr3QPIa3d3mEybInESDvyOIPiu4jcHk7v1y0tl2TvE_Ylzx8JFfoiGZi146YxpPPmw6_Ts5d33cCZVPHT2LIdWq4Fjy5yFnqiBi5akIgs19t9x2NGzqZT-Dr5Wx58akcOjCUjim6LtGsMa8dn_qgeRQxKGU4m1oaEo2Mp97IilsMYbiJUUV0DfHCjROWR2eFp0_hoGmb8ByItNZIRZ03iEMIDt-MOqXIGXTQhHIFTLY41G6Ye-qS8aPOYUql6wxjnWCsBxgLeD--c9OTc-yUPkogjZIDPgUcb-GuB_3t6gnGeVJSrVQBr8fHqHnpOMU0od1kGSk0_oBqlwzlGOVSyXbJoNM6SaRABTzrl9s4xu0qffH3sb-E-2mGfW3kMRysbzfhFdxzP9ffutsTVJOVOslq8hvIyg1P
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3da9RAEB9qFfTFr_oRrbqC-qLb5rKf8a2UK5Vrj3Ke0Lewu9kFURJp7sQ_39lNLlTQA19CIJOwm98sM7M78xuAN0xbI_IQKKpToLy0hlrFDZXC-cCkLrgPqdmEms_15WV5sQMfxloY731KPvMH8Tad5detW8etskOpJxh1yxtwU3Be5H211nhmoGTi9cQlzClnRb4pkcnLw-X882Ia87j4QfQgUCSSAHO0vTIW3F-zSKnFyr-9zWR1Tu7933jvw93BuyRHvTo8gB3fPIS315mEybKnESDvyOIPku49cGlDny5a265I2insix4-khm6oonatSOmqcn5usOvkyPXd55A2djzkxhyEVuu-Zocpzx1xIzMGu_J9FfbfUPzhm7mI_hyMl0en9KhBwN1XLMVRcPG69KJovalCDJ4rY3ghWU-EsnUrDYqFxaDGGFC0AGdQ7wI46QVwVlZs8ew27SNfwpEWWuUZq42iIP3Dt8MZUySM-iiSe0ymGxwqNww99gn43uVApW8rBKMVYSxGmDM4P34zo-enmOr9F4EaZQc8MlgfwN3NazgrppgpKcUK7XO4PX4GNdePFAxjW_XSUbJEn9Avk2GCYxzmeLbZNBtnURaoAye9Oo2jnGjpc_-PvZXcPt0eX5WnX2az57DnTjbvlJyH3ZXV2v_Am65n6uv3dXLtFh-A4_KD64
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Human-Robot+Interaction%3A+Kinematics+and+Muscle+Activity+Inside+a+Powered+Compliant+Knee+Exoskeleton&rft.jtitle=IEEE+transactions+on+neural+systems+and+rehabilitation+engineering&rft.au=Knaepen%2C+Kristel&rft.au=Beyl%2C+Pieter&rft.au=Duerinck%2C+Saartje&rft.au=Hagman%2C+Friso&rft.date=2014-11-01&rft.issn=1534-4320&rft.eissn=1558-0210&rft.volume=22&rft.issue=6&rft.spage=1128&rft.epage=1137&rft_id=info:doi/10.1109%2FTNSRE.2014.2324153&rft.externalDBID=NO_FULL_TEXT
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1534-4320&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1534-4320&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1534-4320&client=summon