通过使用机器人系统对跳跃练习进行定量评估来估计床硬度
Gunseok Park1,2, Seung-Hwan Choi1, Chang-Hyun Kim1
1Advanced Mechatronics Research Group, Daegyeong Division, Korea Institute of Industrial Technology, Daegu 42994, Republic of Korea.
Sensors (Basel, Switzerland)
|December 23, 2023
概括
一个新的机器人系统准确地测量了床的刚性和跳跃动态,使用脚形的具. 这种先进的方法提高了安全性,并为健身和康复应用量化了炼效应.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 运动科学 运动科学
背景情况:
- 床提供低影响性炼对姿势,平衡和心肺功能有好处.
- 量化床动态对于评估炼效果和确保用户安全至关重要.
- 之前的方法缺乏对床特征进行重复,多位置测试的能力.
研究的目的:
- 开发和验证一个机器人系统,精确测量床的刚性和跳动力学.
- 通过测量弹性系数和垂直力来定量评估运动效应.
- 为了提高预测健身和康复的床表现的准确性.
主要方法:
- 一个带有脚形具的机器人系统被设计为在床表面执行自动,重复的运动.
- 扭矩和位置传感器根据床坐标指导机器人的机动.
- 力量传感器收集了施加力和垂直力 (X,Y,Z坐标) 的数据.
- 基于胡克定律的线性回归用于模型准确性评估,采用MAE,RMSE和R平方度量.
主要成果:
- 最初的模型分析 (X距离) 显示MAE为17.97,RMSE为21.72,R平方为0.9840.
- 扩展模型包括X,Y和Jig-to-Jig距离改善了预测准确度.
- 综合模型显示了较低的MAE (15.73) 和RMSE (18.82),具有较高的R平方 (0.9854).
结论:
- 开发的机器人系统准确地测量了床的刚性和动态.
- 综合预测模型在评估床性能方面显示了增强的能力.
- 这项技术对于推进基于床的健身和康复的安全性和有效性至关重要.
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