一个新的动态体重支持地面同步器,可实现可变卸载比率和运动跟踪
Xiaoqian Zhang1,2, Peng Shang1, Bing Li3
1Center of Neuroengineering, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.
Frontiers in neuroscience
|June 26, 2023
概括
本研究介绍了一种新的运动跟踪可变体重支持 (MTVBWS) 系统,用于步行训练. 在康复期间,MTVBWS系统通过减少水平阻力和最大限度地减少下肢力波动来增强自然行走.
科学领域:
- 康复工程 康复工程
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
背景情况:
- 动态身体重量支 (BWS) 系统对于步行训练至关重要.
- 现有的系统往往忽视了自然的步态机制和全向运动.
- 之前的工作开发了一个运动跟踪 (MT) 步行者,导致了这个新系统.
研究的目的:
- 推出一种新的运动跟踪可变体重支持系统 (MTVBWS).
- 在地面行走时,使动态的垂直和水平体重支持成为可能.
- 改善自然步态,减少下肢在康复中的影响.
主要方法:
- 利用质量中心 (COM) 追踪和步态相位检测.
- 集成的积极的 Mecanum 轮子用于通向的水平移动,以COM 识别为指导.
- 在静态,固定卸载比率 (FUR) 和可变卸载比率 (VUR) 设置下 (20-30%卸载力) 进行了对MT,被动和MTVBWS模式的比较验证实验.
主要成果:
- 与其他模式相比,MTVBWS模式显著减少了水平拖动效应.
- 该系统自动调整卸载力,以最大限度地减少下肢力波动.
- 与自然行走相比,MTVBWS模式在每个下肢的力量波动较小.
结论:
- 新的MTVBWS系统有效地在垂直和水平平面上动态支持身体重量.
- 该系统促进了更自然的步行模式,并减少了康复期间的冲击.
- 该MTVBWS系统显示了增强步行训练和恢复结果的前景.
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