Ababhali:  (1) Mohammad Shushtari, uMnyango Wezobunjiniyela Bemishini Nemishini, eNyuvesi yaseWaterloo (smshushtari@uwaterloo.ca);  (2) U-Julia Foellmer, uMnyango Wezobunjiniyela Bemishini Nezolwandle, iNyuvesi Yezobuchwepheshe yase-Hamburg (julia.foellmer@tuhh.de);  (3) USanjay Krishna Gouda, uMnyango Wezobunjiniyela beMechanical and Mechatronics, University of Waterloo kanye neToronto Rehabilitation Institute (KITE), University Health Network (arash.arami@uwaterloo.ca).  Ithebula Lezixhumanisi   Abstract kanye 1 Isingeniso  2 Imiphumela   2.1 Idatha Yasekuqaleni Ecutshunguliwe Yommeleli Obambe iqhaza   2.2 Ukuhlaziya Ukusebenza Sekukonke   2.3 Ukuhlaziywa Kwesithombe Sokusebenzelana   2.4 Isu Lomuntu Ngamunye Lokujwayela  3 Ingxoxo   3.1 Ukuzijwayeza komuntu   3.2 Ukubaluleka Kokuhlaziywa Kwe-IP   4 Isiphetho  5 Izindlela   5.1 Amasu Okulawula Impendulo   5.2 Ukusethwa Kokulinga   5.3 I-Experimental Protocol   5.4 Ukuhlaziywa Kwedatha   Izimemezelo   Isithasiselo Idatha Yesibonelo Esihambisanayo   Isithasiselo B Ukuqhathanisa Nokuhamba Ngokwemvelo   Izithenjwa  2.1 Idatha Yasekuqaleni Ecutshunguliwe Yommeli Obambe iqhaza   2.2 Ukuhlaziya Ukusebenza Sekukonke  I-Fig. 3A ibonisa isamba sokutholwa komoya-mpilo kubahlanganyeli kumabhulokhi ngamunye we-TBC, HTC, ne-AMTC ngesikhathi sokuhamba okunejubane elikhulu, okunensayo, nokumaphakathi. I-TBC ne-AMTC zinezinga eliphezulu kakhulu neliphansi kakhulu le-metabolic kuzo zonke izivinini zokuhamba, ngokulandelana. Izinga le-metabolic eliphumela ku-AMTC lincane kakhulu kunezinye izilawuli, ekuhambeni okunensa kakhulu nokunensa, lapho i-AMTC iphumele ku-22.9%±17.1 (Friedman: p <0.03, Wilcoxon isikhundla esisayiniwe: pT BC,AMT C <0.01) kanye no-28.7 %±12.7 (Friedman: p <0.005, u-Wilcoxon usayiniwe izinga: i-pT BC, i-AMT C <0.003) yehla ekuthathweni komoya-mpilo okuphelele, ngokulandelanayo. Itorque ephelele yesilinganiso sokusebenzisana iboniswa ngokufanayo kubahlanganyeli kuFig. 3B. I-AMTC inetorque yokusebenzisana ephansi kakhulu uma iqhathaniswa ne-TBC ne-HTC, okubonisa ukungavumelani okuncane phakathi kosizo lwe-exoskeleton kanye nokunyakaza okufiswa umsebenzisi. Ngokuphathelene ne-TBC, i-AMTC ibonisa u-17.1±12.5%, 12±15%, kanye no-9.2±7.7% wokunciphisa ukusebenzisana okuphelele kwe-human-exoskeleton ekuhambeni kwesivinini esinesivinini esikhulu, esinensayo, nesimaphakathi, ngokulandelana. Umehluko ubalulekile ngokwezibalo ekuhambeni okunensa kakhulu (u-Friedman: p <0.04, izinga elisayinwe ngu-Wilcoxon: pT BC,AMT C <0.01). Uma kuqhathaniswa ne-HTC, i-AMTC ibonisa u-19.8±21.1%, 17.9±10.1%, kanye nokunciphisa okungu-18.1±9.9% ekusebenzisaneni okuphelele kwe-human-exoskeleton. Lo mehluko ubalulekile ngokwezibalo esimweni sokunensa (uFridman: p <0.03, izinga elisayinwe yi-Wilcoxon: pHT C,AMT C <0.004) kanye nesivinini esimaphakathi (Fridman: p <0.0008, Wilcoxon isikhundla esisayiniwe: pHT C,AMT C < 0.004) ukuhamba. I-Fig. 3C ibonisa umzamo wemisipha ophelele wemilenze yangakwesokudla yabahlanganyeli ngesikhathi sokuhamba kancane, okunensayo, kanye nesivinini esimaphakathi phakathi kwezilawuli ezintathu ezihlukene. Ukuhamba kwemvelo ngaphandle kwe-exoskeleton kunomzamo ophansi wemisipha ophelele uma kuqhathaniswa nezinye izimo lapho i-exoskeleton ihileleke khona. Lokhu kulindeleke njengoba ukugqoka i-exoskeleton kwengeza cishe i-17 kg yesisindo esengeziwe emzimbeni okuholela ekuzameni okuphezulu kwemisipha. Phakathi kwezilawuli ezintathu, i-TBC inomzamo omkhulu kakhulu wemisipha kuwo wonke amajubane. I-AMTC ne-HTC isamba somzamo wokuqina kwemisipha kusondele kuzo zonke izimo kuyilapho i-AMTC iphansi kancane futhi iphezulu ngesivinini esinensa kakhulu nesimaphakathi, ngokulandelana. Awukho umehluko okhonjiwe obalulekile ngokwezibalo.  2.3 Ukuhlaziywa Kwesithombe Sokusebenzelana   2.4 Isu Lomuntu Ngamunye Lokujwayela   Leli phepha   ngaphansi kwelayisensi ye-CC BY-NC-ND 4.0 DEED. litholakala ku-arxiv

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