Light-Weight Wearable Gyroscopic Actuators Can Modulate Balance Performance and Gait Characteristics
A Proof-of-Concept Study
Bram T. Sterke (Erasmus MC, TU Delft - Biomechatronics & Human-Machine Control)
Katherine Lin Poggensee (TU Delft - Human-Robot Interaction, Erasmus MC)
Gerard M. Ribbers (Erasmus MC, Rijndam Revalidatie)
Daniel Lemus (TU Delft - Biomechatronics & Human-Machine Control)
H Vallery (RWTH Aachen University, Erasmus MC, TU Delft - Biomechatronics & Human-Machine Control)
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Abstract
Falling is a major cause of morbidity, and is often caused by a decrease in postural stability. A key component of postural stability is whole-body centroidal angular momentum, which can be influenced by control moment gyroscopes. In this proof-of-concept study, we explore the influence of our wearable robotic gyroscopic actuator “GyroPack” on the balance performance and gait characteristics of non-impaired individuals (seven female/eight male, 30 ± 7 years, 68.8 ± 8.4 kg). Participants performed a series of balance and walking tasks with and without wearing the GyroPack. The device displayed various control modes, which were hypothesised to positively, negatively, or neutrally impact postural control. When configured as a damper, the GyroPack increased mediolateral standing time and walking distance, on a balance beam, and decreased trunk angular velocity variability, while walking on a treadmill. When configured as a negative damper, both peak trunk angular rate and trunk angular velocity variability increased during treadmill walking. This exploratory study shows that gyroscopic actuators can influence balance and gait kinematics. Our results mirror the findings of our earlier studies; though, with more than 50% mass reduction of the device, practical and clinical applicability now appears within reach.
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