关节绑架辅助对人类行走期间代谢成本和平衡的影响
Juneil Park1, Kimoon Nam1, Juseok Yun1,2
1School of Mechanical Engineering, Chung-Ang University, 06974 Seoul, South Korea.
Science robotics
|October 25, 2023
概括
这项研究开发了一个可穿戴机器人,用于关节绑架辅助. 机器人减少了11.6%的步行力度,并通过支持质量中心改善了动态平衡.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 人与计算机的互动.
背景情况:
- 步行辅助的可穿戴机器人主要专注于角平面运动.
- 人类的步态涉及三种平面的复杂运动:斜脚,横脚和正面.
- 关节对于前面平面运动和步行中的平衡至关重要,但很少被辅助机器人准.
研究的目的:
- 开发一个部绑架辅助可穿戴机器人.
- 测试假设模仿生物部绑架时刻/功率降低代谢成本并影响动态平衡的假设.
- 研究关节绑架辅助对步态和平衡参数的影响.
主要方法:
- 开发了一种新的关节绑架辅助可穿戴机器人.
- 制定模仿生物部绑架时刻/功率的辅助配置文件.
- 在机器人辅助下行走时评估代谢成本和动态平衡参数.
主要成果:
- 模仿生物时刻形状的部绑架辅助可降低11.6%的步行代谢成本.
- 援助对平衡参数产生了积极的影响,包括稳定性边际.
- 关节绑架辅助调节了中侧中心质量运动,减少了人类的体力劳动.
结论:
- 关节绑架辅助是一种可行的策略,可以减少人类行走期间的体力劳动.
- 这种机器人辅助可以积极影响动态平衡控制.
- 未来的研究应该探索全面步行康复的多平面辅助策略.
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