低强度的人与人手的相互作用通过感觉运动的参与而不是直接的机械效应引起了步态变化
Mengnan Wu1, Madeleine E Hackney2,3, Lena H Ting4,3
1The Wallace H. Coulter Department of Biomedical Engineering, Emory University and Georgia Institute of Technology, Atlanta, GA, USA. mw40@emory.edu.
Scientific reports
|February 13, 2024
概括
人与机器人的互动可以使用微妙的手力引导行走,模仿人与人的动态. 这项研究表明,低强度的触觉通信可以在没有机械推进的情况下直观地改变步态.
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
- 人与计算机的交互
背景情况:
- 物理人机交互 (pHRI) 通常使用力量/力量来协助行走.
- 物理人与人互动 (pHHI) 为步行辅助提供了一个替代模型.
- 通过触觉来参与人类的感觉运动过程,可以直观地指导运动.
研究的目的:
- 为了测试低强度pHHI可以通过触觉通信直观地改变人类行走的假设.
- 探索手动交互在引导步态修改方面的潜力.
主要方法:
- 一个熟练的舞者仅使用手的交互影响了初学者参与者的步骤频率.
- 对手部施加的力量很小 (<20N),功率传递明显低于移动所需的功率.
- 专家调整了她的手臂的有效动态,以适应新手的步态.
主要成果:
- 新手参与者改变了步骤频率 (下降29%,增加18%) 没有指示或事先了解目标.
- 步态变化是由太低的力量引起的,无法机械地限制参与者的运动.
- 手力和动力的方向和动态似乎传达了步态调整的信息.
结论:
- 手部的低强度触觉通信可以直观地指导人类的步态修改.
- 这种双向,自适应的触觉策略为物理人机交互提供了一个新的框架.
- 应用包括辅助技术,康复,制造和体育教育.
相关概念视频
Static and Kinetic Frictional Force
20.5K
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
20.5K
Motor Unit Stimulation
4.7K
When the neuron of a motor unit fires an action potential, it triggers a series of events, leading to a twitch contraction in the muscle fibers. The process of excitation-contraction coupling is crucial in relaying the action potential to the muscle fibers.
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
4.7K
Muscle Stimulation Frequency
4.7K
The contraction strength of muscles is regulated by motor neurons, which modulate the frequency of action potentials dispatched to the motor units based on the body's requirements. This process of varying the muscle stimulation frequency allows muscles to contract with a force that is precisely tailored to the needs of the moment, whether lifting a feather or a heavy box.
Wave summation
At low firing rates, motor neurons induce individual twitch contractions in muscle fibers. These twitches...
Wave summation
At low firing rates, motor neurons induce individual twitch contractions in muscle fibers. These twitches...
4.7K
Isotonic and Isometric Muscle Contractions
28.8K
Two primary types of muscle contractions are isotonic and isometric, each serving unique functions and involving distinct mechanisms. Both isotonic and isometric contractions are integral to the body's complex system of movement and stability. Isotonic exercises contribute significantly to functional strength and movement, while isometric contractions are crucial for maintaining posture and joint stability.
Isotonic contractions
Isotonic contractions occur when a muscle changes length while...
Isotonic contractions
Isotonic contractions occur when a muscle changes length while...
28.8K
Alterations in Muscle Tone ll
31
Alterations in muscle tone are common manifestations of neurological disorders and reflect dysfunction within different nervous system regions. Spasticity, paratonia, and dystonia represent distinct forms of hypertonia, each with unique mechanisms, clinical features, and diagnostic importance.CharacteristicsSpasticity happens from upper motor neuron lesions and is characterized by velocity-dependent resistance to passive movement. Clinical features include:Exaggerated deep tendon reflexesClonus...
31
Alterations in Muscle Tone lll
36
Rigidity and myotonia are distinct abnormalities of muscle tone that affect resistance and relaxation during movement. Although both involve altered muscle contraction, they arise from different neurological and muscular mechanisms.CharacteristicsRigidity is characterized by uniform resistance to passive movement across the entire range, independent of speed, affecting flexors and extensors equally. It may appear as lead-pipe rigidity (smooth, constant resistance) or cogwheel rigidity...
36


