通过模块化测试台传感和控制战略,通过模块化测试台实现基于协同效应的,电缆驱动的外套
Ashwin Jayakumar1, Daniel Rodríguez Jorge1, Javier Bermejo-García1
1Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain.
Sensors (Basel, Switzerland)
|July 11, 2023
概括
本研究介绍了一个模块化试验台和原型外套,用于开发电缆驱动的步行辅助系统. 这种可适应的设计旨在通过个性化对外骨控制以满足个体患者需求来改善活跃衰老.
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
- 老年学是一门学科.
背景情况:
- 衰老会导致肌肉损失,关节问题和运动能力下降,增加跌倒风险.
- 步行辅助外骨架为老年人群的活跃衰老提供了一个解决方案.
- 个性化机械和控制对于有效使用外骨至关重要.
研究的目的:
- 建模和建造一个模块化测试台和原型外衣.
- 为了测试电缆驱动外骨架的各种安装和控制方案.
- 为了使单个执行器多关节辅助的实验实施,并优化患者特定的控制.
主要方法:
- 开发一个模块化测试台.
- 构建一个原型的电缆驱动的外套.
- 实施姿势和运动协同作用,以实现多人联合协助.
- 控制方案的优化,以适应患者的具体情况.
主要成果:
- 创建了一个功能模块化测试台和原型外衣.
- 该系统允许测试不同的安装和控制策略.
- 用单个执行器展示了多个联合协助的实验实施.
- 优化针对个体患者特征的控制方案是容易的.
结论:
- 开发的测试台和外衣为研究提供了一个多功能平台.
- 这种开源设计预计将推进电缆驱动的外骨架系统,用于积极老化.
- 个性化控制策略可以提高步行辅助设备的有效性.
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