一个自我调整的上肢外骨,保留了自然的肩膀运动:动力学兼容性分析
概括
这项研究表明,自调肩部外骨架 (NESM-γ) 维持了用于中风康复的自然手臂运动. 锁定了外骨架的外骨架.
科学领域:
- 康复工程 康复工程 康复工程
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
背景情况:
- 卒中幸存者经常经历上肢运动功能障碍.
- 外对运动功能的训练有希望.
- 精确的动力学对齐对于有效使用外骨至关重要.
研究的目的:
- 为了评估NESM-γ上肢外骨架的自我调整性能.
- 评估被动自由度对达到任务时的动力学兼容性的影响.
- 为了比较运动模式和肌肉激活与外骨和没有外骨,并与锁定和解锁的被动关节.
主要方法:
- 从8名健康人群中收集了动力学和电肌图学数据.
- 试验对象在三个条件下执行了达到任务:没有外骨 (基线),外骨带有未锁定的被动关节 (HIL-unlocked),外骨带有锁定的被动关节 (HIL-locked).
- 分析了运动模式,关节偏差和峰值肌肉激活.
主要成果:
- 解锁HIL的条件与基线运动模式密切匹配,肩部角度误差最小 (<5度) 和部旋转中心偏差最小 (<20毫米).
- 在基线和HIL解锁条件之间没有观察到峰值肌肉激活的显著差异.
- 这种HIL锁定条件导致干和腺道轨迹的显著偏差 (高达50毫米),以及肌肉激活的增加.
结论:
- 具有自我调整的被动关节的NESM-γ外骨,证明了与人类肩部复合体和干部的动力兼容性.
- 适应自然运动的动力学解决方案对于肩部外骨架设计至关重要.
- 这项技术有可能改善中风后患者的运动功能训练.
相关概念视频
Bones of the Upper Limb: Humerus
3.2K
The upper limb consists of the arm, forearm, wrist, and hand bones. The humerus is the single bone of the upper arm region. Proximally, it has a large, spherical, smooth head that articulates with the glenoid cavity of the scapula to form the glenohumeral or shoulder joint. The margin of the head is the anatomical neck, a residual epiphyseal plate. Laterally it extends to form bony projections called the greater tubercle and the lesser tubercle. Next to the tubercles is the surgical neck, a...
3.2K
Support Reactions in Three Dimensions
968
Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
968
Kinematic Equations for Rotation
331
In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
331
Anatomical Movements
7.2K
Anatomical movements refer to the various actions or motions that can be performed by the body's joints and muscles. These movements are described using specific terms to provide a standardized way of discussing and understanding the range of motion at different joints.
Here are some common anatomical movements:
Flexion and extension motions are in the sagittal (anterior–posterior) plane of motion. These movements take place at the shoulder, hip, elbow, knee, wrist,...
Here are some common anatomical movements:
Flexion and extension motions are in the sagittal (anterior–posterior) plane of motion. These movements take place at the shoulder, hip, elbow, knee, wrist,...
7.2K
Kinematic Equations: Problem Solving
12.5K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
12.5K
Muscle Coordination and Action
1.5K
Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....
1.5K


