共享自主机动合成与虚拟驱动的假肢脚
概括
本研究介绍了用于测试机器人假肢的虚拟环境,使用人工智能模拟用户运动并改善假肢控制. 该系统增强了步行稳定性,并减少了动力假肢使用者的脚.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 生物力学 生物力学
背景情况:
- 虚拟环境为可穿戴机器人设备提供安全测试.
- 模拟行走需要模拟硬件和用户交互.
- 预测运动合成器生成虚拟用户运动,用于设备评估.
研究的目的:
- 在共享自主框架内,为动力假肢实施深度强化学习 (DRL) 控制器.
- 模拟人机界面 (HMI) 使用连续用户意图表示用于假肢控制.
- 为了评估控制器在非稳定状态行走场景中的有效性.
主要方法:
- 在MuJoCo物理引擎中实现了基于DRL的运动控制器.
- 在模拟的人类用户和活跃假肢政策之间共享控制自主性.
- 使用数据驱动,连续表示用户意图驱动HMI.
- 在模拟的非稳定状态行走条件下测试了系统.
主要成果:
- 在没有明确的优化的情况下,DRL代理产生了现实的扭矩配置和地面反应力.
- 持续的用户意图表示减少了补偿性步行模式.
- 随着拟议的意图表示,模拟触发的速度减少了一半.
- 用户和假肢之间的共同适应成为一个培训挑战.
结论:
- 开发的框架允许在虚拟环境中对假肢控制器进行有效的培训和评估.
- 持续的用户意图表示可以改善假肢控制和用户稳定性.
- 该方法促进了先进的假肢控制器从模拟到现实应用的过渡.
相关概念视频
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The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...