人类手臂端点阻抗在节奏的人机交互中表现出循环变化
Vincent Fortineau1,2,3,4, Isabelle A Siegler2,3, Maria Makarov1
1Laboratoire des signaux et systèmes, CNRS, CentraleSupélec, Université Paris-Saclay, Gif-sur-Yvette, France.
PloS one
|December 14, 2023
概括
这项研究研究了在弹球任务期间的上肢终点阻抗. 虽然阻抗周期性变化,但它与任务性能没有直接相关.
科学领域:
- 人与机器人的互动
- 生物力学 生物力学
- 发动机控制器 发动机控制器
背景情况:
- 估计人类的终点阻抗为我们提供了对身体相互作用期间目标导向运动的见解.
- 了解终点阻抗对于设计有效的人机协作和康复策略至关重要.
研究的目的:
- 在模拟触觉反的混合弹跳动任务中检查上肢的终点阻抗.
- 调查目标高度和循环相对节奏手臂运动期间终点阻抗的影响.
- 分析端点阻抗参数与弹球任务中的性能之间的关系.
主要方法:
- 在31名参与者中,采用强力扰动方法来估计终点阻抗参数 (刚度,阻尼,质量).
- 利用一个入口控制的机器人和模拟触觉反在数字球弹跳环境中.
- 进行了两项专注于目标高度变化和节奏运动周期相间阻抗的实验.
主要成果:
- 终点阻抗参数在整个臂周期中发生了显著的变化,硬度在撞击前呈现近乎线性增长.
- 观察到的缓冲和质量的周期变化归因于几何和运动变化.
- 终点阻抗值与弹球任务中的性能水平之间没有直接相关性.
结论:
- 终点阻抗参数在节奏上肢运动中表现出快速的周期内变化.
- 尽管阻抗有显著的波动,但终点阻抗并没有成为这个特定的弹球任务中性能的关键决定因素.
- 需要进一步的研究来阐明阻抗控制和人类运动行为中的任务执行之间的复杂相互作用.
相关概念视频
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Anterior Compartment
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