Vanyori:  (1) Mohammad Shushtari, Dhipatimendi reMechanical uye Mechatronics Engineering, University of Waterloo (smshushtari@uwaterloo.ca);  (2) Julia Foellmer, Mechanics uye Ocean Engineering Dhipatimendi, Hamburg University of Technology (julia.foellmer@tuhh.de);  (3) Sanjay Krishna Gouda, Dhipatimendi reMechanical uye Mechatronics Engineering, University of Waterloo uye Toronto Rehabilitation Institute (KITE), University Health Network (arash.arami@uwaterloo.ca).  Table of Links   Abstract uye 1 Sumo  2 Migumisiro   2.1 Yekutanga Yakagadziridzwa Dhata yeMumiriri Mumiriri   2.2 Kuongorora Kwekuita Kwese   2.3 Kudyidzana Portrait Analysis   2.4 Individual Adaptation Strategy  3 Kukurukurirana   3.1 Kugadziriswa kwevanhu   3.2 Kukosha kweIP Analysis   4 Mhedziso  5 Nzira   5.1 Feedforward Control Strategies   5.2 Kuedza Setup   5.3 Kuedza Protocol   5.4 Data Analysis   Zviziviso   Appendikisi A Inopindirana Muenzaniso Data   Appendix B Kufananidza neKufamba Kwemusikirwo   References  2.1 Yekutanga Yakagadziridzwa Dhata yeMumiriri Mumiriri   2.2 Kuongorora Kwekuita Kwese  Mufananidzo 3A unoratidza huwandu hwekutorwa kweokisijeni kune vatori vechikamu kune imwe neimwe yeTBC, HTC, uye AMTC mabhuroko panguva yekufamba-inononoka, inononoka, uye iri pakati nepakati-kumhanya. TBC neAMTC vane yepamusoro uye yakaderera metabolic mwero pakumhanya kwese kwekufamba, zvichiteerana. Iyo AMTC-inokonzeresa metabolic mwero ishoma pane mamwe ma controller, panguva yekupedzisira-inononoka uye inononoka kufamba, apo AMTC yakakonzera 22.9% ±17.1 (Friedman: p <0.03, Wilcoxon akasaina chinzvimbo: pT BC, AMT C <0.01) uye 28.7 % ± 12.7 (Friedman: p <0.005, Wilcoxon akasaina chinzvimbo: pT BC, AMT C <0.003) kuderera muhuwandu hwekutora okisijeni, zvichiteerana. Zvose zvinoreva mhedziso yekubatanidza torque inofananidzirwa zvakafanana kune vatori vechikamu muFig. 3B. AMTC ine torque yakaderera yekudyidzana kana ichienzaniswa neTBC neHTC, zvichiratidza kusawirirana kudiki pakati perubatsiro rwe exoskeleton uye mushandisi aidiwa kufamba. Nekuremekedza TBC, AMTC inoratidza 17.1 ± 12.5%, 12 ± 15%, uye 9.2 ± 7.7% yekuderedza kuwirirana kwevanhu-exoskeleton mu-ultra-slow, slow, uye moderate-speed kufamba, zvichiteerana. Musiyano wakakosha pakufamba-kunonoka (Friedman: p <0.04, Wilcoxon akasaina chinzvimbo: pT BC, AMT C <0.01). Kuenzaniswa neHTC, AMTC inoratidza 19.8±21.1%, 17.9±10.1%, uye 18.1 ± 9.9% kuderedza muhutano hwevanhu-exoskeleton. Misiyano iyi yakakosha panyaya yekunonoka (Fridman: p <0.03, Wilcoxon akasaina chinzvimbo: pHT C,AMT C <0.004) uye mwero-kumhanya (Fridman: p <0.0008, Wilcoxon yakasaina chinzvimbo: pHT C,AMT C < 0.004) kufamba. Fig. 3C inoratidza kushanda kwemhasuru yese kumakumbo ekurudyi evatori vechikamu panguva yaanononoka, anononoka, uye ane mwero-speed achifamba achiyambuka matatu akasiyana controller. Kufamba kwechisikigo pasina exoskeleton kune yakaderera yakazara mhasuru kuedza kana ichienzaniswa nedzimwe nyaya umo iyo exoskeleton inobatanidzwa. Izvi zvinotarisirwa sekupfeka iyo exoskeleton inowedzera inenge 17 kg yehuremu hwekuwedzera kumuviri zvichikonzera kushanda kwemhasuru. Pakati pevatatu vanodzora, TBC ine yakanyanya mhasuru kuedza kwese kumhanya. AMTC neHTC's mhasuru dzese kuedza dziri padyo mune zvese zviitiko nepo AMTC iri kuderera zvishoma uye yakakwirira mukumhanya-inononoka uye pakati nepakati kumhanya, zvichiteerana. Hapana mumwe wemisiyano yakaonekwa yakakosha.  2.3 Kudyidzana Portrait Analysis   2.4 Individual Adaptation Strategy   Iri bepa   pasi peCC BY-NC-ND 4.0 DEED rezinesi. rinowanikwa pa arxiv

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