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相关概念视频

Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

388
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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走向基于斯图尔特平台的模块化病理震模拟系统

Jair Fajardo1, Leonimer Flávio de Melo2

  • 1Federal Institute of Paraná, Assis Chateaubriand Campus, Assis Chateaubriand 85935-000, Brazil.

Sensors (Basel, Switzerland)
|November 25, 2023
PubMed
概括

这项研究开发了一个机器人模拟器,准确地复制帕金森病的休息震. 这一进步允许在没有患者参与的情况下测试可穿戴的震抑制装置,加速创新.

科学领域:

  • 生物医学工程 生物医学工程
  • 机器人技术 机器人技术 机器人技术
  • 神经学 神经学

背景情况:

  • 可穿戴技术旨在通过识别和抑制非自愿运动来减少病理性震.
  • 目前这些设备的发展受到模拟震动准确测试的困难所阻碍.

研究的目的:

  • 开发基于斯图尔特平台的机器人操纵器,以模拟帕金森病特征的休息震.
  • 为测试震抑制技术创建一个计算模拟环境.

主要方法:

  • 一个基于斯图尔特平台的机器人操纵器是使用SOLIDWORKS设计的,并在Matlab/Simulink中模拟.
  • 采用多体动态方法和卡尔曼波器来处理患者数据并驱动模拟器.
  • 进行了工作空间评估和真实和模拟患者数据之间的相关性分析.

主要成果:

  • 机器人模拟器准确地复制了帕金森病在所有手腕运动中的休息震.
  • 在真实患者震数据和模拟信号之间观察到高相关性和低分散.
  • 模拟有效地将患者手腕加速和角度速度数据转换为现实的震动运动.

结论:

  • 开发的机器人模拟器可以可靠地代表帕金森病的休息震.
关键词:
卡尔曼过器可以过.帕金森病是帕金森氏症的一种疾病.辅助技术的使用.多体动力学 多体动力学融合传感器 融合传感器 融合传感器系统建模系统建模模型模拟震的模拟器可穿戴设备可穿戴设备.

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  • 该系统可用于测试可穿戴的震抑制装置,而不需要患者参与.
  • 模拟器有助于比较不同的抑制技术,从而推进新型可穿戴解决方案的开发.