使用透明外骨架在地面上行走显示了时空空间步行参数的变化
Rafhael M Andrade1,2, Stefano Sapienza2, Abolfazl Mohebbi3
1Department of Mechanical EngineeringUniversidade Federal do Espirito Santo Vitória Espirito Santo 29075 Brazil.
IEEE journal of translational engineering in health and medicine
|December 13, 2023
概括
这项研究表明,透明的下肢步行训练 (GT) 外骨架可以减少用户与机器人的交互扭矩. 虽然步伐长度保持相似,但节奏发生了显著的变化,这表明用户在地面行走时适应步态以保持平衡.
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
- 康复工程 康复工程 康复工程
背景情况:
- 下肢步行训练 (GT) 外骨架有助于康复,但与精确的用户辅助作斗争.
- 跑步机系统的透明操作改善了互动,但对地面行走的影响尚不清楚.
- 在地面上行走需要活跃的用户稳定性,与基于跑步机的系统不同.
研究的目的:
- 调查透明操作策略对使用外骨架在地面上行走时用户步态动力学的影响.
- 为了评估反零扭矩控制器的有效性,对外骨架动力学和执行器阻抗进行前补偿.
主要方法:
- 在ExoRoboWalker地面GT外骨架上实施了透明的操作策略.
- 收集了五名健康受试者在三个条件下的步态数据:透明的外骨 (ExoTransp),非透明的外骨 (ExoOff) 和没有外骨 (NoExo).
- 分析了用户与机器人的交互扭矩和步态动力学,包括步伐长度和节奏.
主要成果:
- 与非透明模式相比,透明控制器显著降低了用户与机器人的交互扭矩.
- 在透明的外骨行走和没有外骨行走之间,没有发现足迹长度的显著差异.
- 在透明的外骨走路和没有外骨走路之间观察到节奏的显著差异,但在透明和非透明的外骨模式之间没有.
结论:
- 在下肢GT外骨中透明的操作可以降低相互作用扭矩并影响步态动力学.
- 用户可以调整他们的步态,改变时空特征,如节奏,在地面行走时使用外骨架时保持平衡.
- 研究结果表明,透明的外骨可能会在康复环境中促进更自然的步行适应.
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