Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation

Abstract Background Wearable robots have been shown to improve the efficiency of walking in diverse scenarios. However, it is unclear how much practice is needed to fully adapt to robotic assistance, and which neuromotor processes underly this adaptation. Familiarization strategies for novice users,...

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Autores principales:	Florian L. Haufe, Alessia M. Kober, Peter Wolf, Robert Riener, Michele Xiloyannis
Formato:	article
Lenguaje:	EN
Publicado:	BMC 2021
Materias:	Exoskeleton Exosuit Exomuscle Motor adaptation Learning Familiarization Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
Acceso en línea:	https://doaj.org/article/a6057218fa014414b929e00b2593718e
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spelling	oai:doaj.org-article:a6057218fa014414b929e00b2593718e2021-11-08T11:15:56ZLearning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation10.1186/s12984-021-00946-91743-0003https://doaj.org/article/a6057218fa014414b929e00b2593718e2021-11-01T00:00:00Zhttps://doi.org/10.1186/s12984-021-00946-9https://doaj.org/toc/1743-0003Abstract Background Wearable robots have been shown to improve the efficiency of walking in diverse scenarios. However, it is unclear how much practice is needed to fully adapt to robotic assistance, and which neuromotor processes underly this adaptation. Familiarization strategies for novice users, robotic optimization techniques (e.g. human-in-the-loop), and meaningful comparative assessments depend on this understanding. Methods To better understand the process of motor adaptation to robotic assistance, we analyzed the energy expenditure, gait kinematics, stride times, and muscle activities of eight naïve unimpaired participants across three 20-min sessions of robot-assisted walking. Experimental outcomes were analyzed with linear mixed effect models and statistical parametric mapping techniques. Results Most of the participants’ kinematic and muscular adaptation occurred within the first minute of assisted walking. After ten minutes, or 880 steps, the energetic benefits of assistance were realized (an average of 5.1% (SD 2.4%) reduction in energy expenditure compared to unassisted walking). Motor adaptation was likely driven by the formation of an internal model for feedforward motor control as evidenced by the reduction of burst-like muscle activity at the cyclic end of robotic assistance and an increase in arm-swing asymmetry previously associated with increased cognitive load. Conclusion Humans appear to adapt to walking assistance from a wearable robot over 880 steps by forming an internal model for feedforward control. The observed adaptation to the wearable robot is well-described by existing three-stage models that start from a cognitive stage, continue with an associative stage, and end in autonomous task execution. Trial registration Not applicable.Florian L. HaufeAlessia M. KoberPeter WolfRobert RienerMichele XiloyannisBMCarticleExoskeletonExosuitExomuscleMotor adaptationLearningFamiliarizationNeurosciences. Biological psychiatry. NeuropsychiatryRC321-571ENJournal of NeuroEngineering and Rehabilitation, Vol 18, Iss 1, Pp 1-14 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Exoskeleton Exosuit Exomuscle Motor adaptation Learning Familiarization Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
spellingShingle	Exoskeleton Exosuit Exomuscle Motor adaptation Learning Familiarization Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571 Florian L. Haufe Alessia M. Kober Peter Wolf Robert Riener Michele Xiloyannis Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
description	Abstract Background Wearable robots have been shown to improve the efficiency of walking in diverse scenarios. However, it is unclear how much practice is needed to fully adapt to robotic assistance, and which neuromotor processes underly this adaptation. Familiarization strategies for novice users, robotic optimization techniques (e.g. human-in-the-loop), and meaningful comparative assessments depend on this understanding. Methods To better understand the process of motor adaptation to robotic assistance, we analyzed the energy expenditure, gait kinematics, stride times, and muscle activities of eight naïve unimpaired participants across three 20-min sessions of robot-assisted walking. Experimental outcomes were analyzed with linear mixed effect models and statistical parametric mapping techniques. Results Most of the participants’ kinematic and muscular adaptation occurred within the first minute of assisted walking. After ten minutes, or 880 steps, the energetic benefits of assistance were realized (an average of 5.1% (SD 2.4%) reduction in energy expenditure compared to unassisted walking). Motor adaptation was likely driven by the formation of an internal model for feedforward motor control as evidenced by the reduction of burst-like muscle activity at the cyclic end of robotic assistance and an increase in arm-swing asymmetry previously associated with increased cognitive load. Conclusion Humans appear to adapt to walking assistance from a wearable robot over 880 steps by forming an internal model for feedforward control. The observed adaptation to the wearable robot is well-described by existing three-stage models that start from a cognitive stage, continue with an associative stage, and end in autonomous task execution. Trial registration Not applicable.
format	article
author	Florian L. Haufe Alessia M. Kober Peter Wolf Robert Riener Michele Xiloyannis
author_facet	Florian L. Haufe Alessia M. Kober Peter Wolf Robert Riener Michele Xiloyannis
author_sort	Florian L. Haufe
title	Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
title_short	Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
title_full	Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
title_fullStr	Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
title_full_unstemmed	Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
title_sort	learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation
publisher	BMC
publishDate	2021
url	https://doaj.org/article/a6057218fa014414b929e00b2593718e
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Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation

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