Qorayaasha:  (1) Mohammad Shushtari, Waaxda Mechanical iyo Mechatronics Engineering, Jaamacadda Waterloo (smshushtari@uwaterloo.ca);  (2) Julia Foellmer, Mechanics iyo Waaxda Injineerinka Badweynta, Jaamacadda Teknolojiyadda Hamburg (julia.foellmer@tuhh.de);  (3) Sanjay Krishna Gouda, Department of Mechanical and Mechatronics Engineering, University of Waterloo iyo Toronto Rehabilitation Institute (KITE), Shabakadda Caafimaadka Jaamacadda (arash.arami@uwaterloo.ca).  Shaxda Xiriirinta   Abstract iyo 1 Hordhac  2 Natiijooyin   2.1 Xogta Bilowga ah ee Loo Hagaajiyay Ka Qaybqaataha Wakiilada   2.2 Falanqaynta Guud ee Waxqabadka   2.3 Falanqaynta Sawirka Isdhexgalka   2.4 Istaraatiijiyada La qabsiga Shaqsiga  3 Dood   3.1 La qabsiga Aadanaha   3.2 Muhiimadda Falanqaynta IP-ga   4 Gabagabo  5 Hababka   5.1 Xeeladaha Xakamaynta Feedforforward   5.2 Dejinta Tijaabada   5.3 Habka tijaabada ah   5.4 Falanqaynta Xogta   Baaqyo   Lifaaqa A Xogta Tusaalaha Dhamaystiran   Lifaaqa B Isbarbardhigga Socodka Dabiiciga ah   Tixraacyo  2.1 Xogta Bilowga ah ee Loo Hagaajiyay Ka Qaybqaataha Wakiilada   2.2 Falanqaynta Guud ee Waxqabadka  Jaantuska 3A waxa uu tusinayaa wadarta qaadashada ogsijiinta ee ka qaybgalayaasha mid kasta oo ka mid ah blocks TBC, HTC, iyo AMTC inta lagu jiro socodka aadka u gaabis ah, gaabis ah, iyo dhexdhexaad ah. TBC iyo AMTC waxay leeyihiin heerka ugu sarreeya iyo heerka ugu hooseeya ee dheef-shiid kiimikaadka dhammaan xawaaraha socodka, siday u kala horreeyaan. Heerka dheef-shiid kiimikaad ee AMTC aad ayuu uga yar yahay kantaroolayaasha kale, socodka aadka u gaabis iyo gaabis ah, halkaas oo AMTC ay keentay 22.9%±17.1 (Friedman: p <0.03, Wilcoxon darajada saxeexay: pT BC, AMT C <0.01) %±12.7 (Friedman: p <0.005, Wilcoxon darajada saxiixay: pT BC, AMT C <0.003) hoos u dhaca wadarta qaadashada ogsijiinta, siday u kala horreeyaan. Wadarta celceliska is dhexgalka saxda ah ayaa si isku mid ah loogu sawiray ka qaybgalayaasha shaxanka 3B. AMTC waxay leedahay wareegga is dhexgalka ugu hooseeya marka loo eego TBC iyo HTC, taasoo muujinaysa khilaafka ugu yar ee u dhexeeya kaalmada exoskeleton iyo isticmaaluhu dhaqdhaqaaqa rabo. Marka la eego TBC, AMTC waxay muujinaysaa 17.1 ± 12.5%, 12± 15%, iyo 9.2± 7.7% hoos u dhigista wadarta guud ee isdhexgalka bini'aadamka-exoskeleton ee socodka ultra- gaabis ah, gaabis ah, iyo dhexdhexaad ah, siday u kala horreeyaan. Farqiga u dhexeeya waa mid muhiim ah marka la eego socodka aadka u gaabis ah (Friedman: p <0.04, Wilcoxon darajada saxeexay: pT BC, AMT C <0.01). Marka la barbardhigo HTC, AMTC waxay muujinaysaa 19.8 ± 21.1%, 17.9 ± 10.1%, iyo 18.1 ± 9.9% hoos u dhaca wadarta isdhexgalka bini'aadamka-exoskeleton. Kala duwanaanshahan ayaa tirokoob ahaan muhiim u ah xaaladda gaabis (Fridman: p <0.03, Wilcoxon darajada saxeexay: pHT C, AMT C <0.004) iyo dhexdhexaad-xawaaraha (Fridman: p <0.0008, Wilcoxon darajada saxeexay: pHT C, AMT C < 0.004) socodka. Jaantuska 3C waxa uu tusayaa wadarta dadaalka muruqa ee lugaha midig ee ka qaybgalayaasha inta lagu jiro ultraslow, aayar, iyo xawaare dhexdhexaad ah oo ku socda saddexda koontaroolayaasha kala duwan. Socodka dabiiciga ah ee aan lahayn exoskeleton ayaa leh dadaalka guud ee ugu hooseeya marka loo eego kiisaska kale ee exoskeleton uu ku lug leeyahay. Tan ayaa la filayaa maadaama xidhashada exoskeleton ay ku kordhiso 17 kg oo miisaan dheeraad ah jidhka taas oo keentay dadaalka muruqa sare. Saddexda koontaroolayaasha dhexdooda, TBC waxay leedahay dadaalka murqaha ugu sarreeya ee dhammaan xawliga. Isku geynta AMTC iyo HTC dadaalkooda muruqa waa u dhow yihiin kiisaska oo dhan halka AMTC uu xoogaa hooseeyo oo uu sareeyo xawaarihiisa aadka u gaabis ah iyo kuwa dhexdhexaadka ah, siday u kala horreeyaan. Midna kala duwanaanshiyaha la aqoonsaday maaha mid muhiimad gaar ah leh.  2.3 Falanqaynta Sawirka Isdhexgalka   2.4 Istaraatiijiyada La qabsiga Shaqsiga   Warqadan waxaa   hoos timaada shatiga CC BY-NC-ND 4.0 DEED. laga heli karaa arxiv ee

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