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Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
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使用生物灵感的外骨控制器协助行走平衡.

M Afschrift1,2, E van Asseldonk3, M van Mierlo3

  • 1Department of Mechanical Engineering, Robotics Core Lab of Flanders Make, KU Leuven, Leuven, Belgium. m.a.afschrift@vu.nl.

Journal of neuroengineering and rehabilitation
|June 27, 2023
PubMed
概括
此摘要是机器生成的。

这项研究引入了一个仿生外骨控制器,用于改善行走平衡和减少肌肉活动. 这种新的方法支持稳定状态行走,并增强平衡恢复,有利于移动障碍患者.

关键词:
有助于平衡控制控制平衡.生物仿真控制控制外骨架 (exoskeleton) 是一个外骨架.肌肉骨系统的建模.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物力学 生物力学
  • 神经科学是一个神经科学.

背景情况:

  • 外骨研究传统上优先考虑代谢效率而不是平衡控制.
  • 保持平衡对于移动性至关重要,但当前的外骨往往忽视了这一方面.
  • 这项研究解决了对外骨的需求,这些外骨可以积极支持步行平衡.

研究的目的:

  • 开发和评估一个仿生外骨控制器,以提高步行平衡.
  • 为了减少在稳定状态行走和平衡恢复期间的肌肉活动.
  • 为了模仿人类的神经控制策略平衡和运动.

主要方法:

  • 一个控制器被设计来复制人类的平稳状态行走和平衡恢复反应.
  • 控制器集成了脚动力学反和质量速度反中心.
  • 控制参数是从人类在干扰下行走的数据中得出的.

主要成果:

  • 外骨支在稳定状态行走时,将小腿肌肉活动减少19%.
  • 质量中心速度反改善了平衡支,在扰动期间减少了10-16%的肌肉活动.
  • 随着拟议的控制器,质量中心偏差减少了9-18%.

结论:

  • 生物模拟外骨控制器有效地支持稳定状态的行走和平衡.
  • 这项技术具有显著的潜力,可以改善平衡障碍的人的移动性.
  • 控制器减少肌肉活动的能力突出了其实际应用.