标题： 投影新身体：穿戴式机器人学习行走过程中身体形象的演变 显示英文标题

标题： Projecting the New Body: How Body Image Evolves During Learning to Walk with a Wearable Robot

摘要： 可穿戴机器人技术的进步挑战了传统的人类运动系统定义，因为可穿戴机器人重新定义了身体结构、运动能力和对自身身体的感知。 我们通过选择性感知运动系数(SCoMo)在每次训练后测量步态表现和感知的身体图像。 基于将人类运动学习理论扩展到佩戴者-机器人系统的理论，我们假设在使用机械腿行走时感知的身体图像的学习与实际步态改善共同进化，并变得更加确定和准确。 我们的结果证实了运动学习同时改善了身体和感知的步态模式，使其趋于正常，表明通过练习，佩戴者将机械腿整合到他们的感觉运动系统中，以实现佩戴者-机器人运动协调。 然而，感知运动和实际运动之间仍然存在持续的差异，这可能是由于佩戴者无法直接感知和控制假肢。 此外，后期训练阶段的感知高估可能限制进一步的运动改善。 这些发现表明，增强人类对可穿戴机器人的感知以及频繁校准身体图像的感知对于有效的下肢可穿戴机器人训练和开发更具身体感的辅助技术至关重要。 显示英文摘要

摘要： Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body images via Selected Coefficient of Perceived Motion, SCoMo, after each training session. Based on human motor learning theory extended to wearer-robot systems, we hypothesized that learning the perceived body image when walking with a robotic leg co-evolves with the actual gait improvement and becomes more certain and more accurate to the actual motion. Our result confirmed that motor learning improved both physical and perceived gait pattern towards normal, indicating that via practice the wearers incorporated the robotic leg into their sensorimotor systems to enable wearer-robot movement coordination. However, a persistent discrepancy between perceived and actual motion remained, likely due to the absence of direct sensation and control of the prosthesis from wearers. Additionally, the perceptual overestimation at the later training sessions might limit further motor improvement. These findings suggest that enhancing the human sense of wearable robots and frequent calibrating perception of body image are essential for effective training with lower limb wearable robots and for developing more embodied assistive technologies.