一个个人的假肢控制方法与人类的主观选择.
Lei Sun1, Hongxu Ma1, Honglei An1
1College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China.
Biomimetics (Basel, Switzerland)
|February 23, 2024
概括
这项研究提出了个性化下肢假肢轨迹规划的新方法,优化截肢者的步态. 这种方法通过适应个体运动模式来提高行走舒适性和安全性.
科学领域:
- 生物医学工程 生物医学工程
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
背景情况:
- 智能下肢假肢旨在提高截肢者的移动性和便利性.
- 有效的假肢控制在很大程度上依赖于联合轨迹的规划,直接影响性能和用户舒适性.
- 个人的生理差异和行走习惯需要个性化的假肢步行模式.
研究的目的:
- 开发和验证智能下肢假肢个性化轨迹规划的方法.
- 调整平均步行轨迹以满足个人用户对舒适性和安全性的需求.
- 将人类的主观反集成到假肢控制循环中,以实现更直观的操作.
主要方法:
- 步行轨迹被规范化并使用相变量方法进行规划.
- 使用福里埃数列扩展分析了最佳和当前轨迹之间的偏差.
- 使用多个主体的动力学数据集来证明该方法的可行性和有效性.
主要成果:
- 拟议的算法成功地将平均步行轨迹优化为个体对象个性化的轨迹.
- 实验结果验证了个别轨迹规划方法的可行性和有效性.
- 优化过程表明,在将假肢适应用户特定步态方面,有了显著的改进.
结论:
- 个性化轨迹规划对于提高下肢假肢的智能和用户体验至关重要.
- 开发的方法提供了一种可行的方法,用于创建更紧密地模仿个体人类运动的假肢.
- 这一进步有助于改善下肢截肢者的行走舒适性,安全性和整体功能.
相关概念视频
Decision Making: P-value Method
The process of hypothesis testing based on the P-value method includes calculating the P- value using the sample data and interpreting it.
First, a specific claim about the population parameter is proposed. The claim is based on the research question and is stated in a simple form. Further, an opposing statement to the claim is also stated. These statements can act as null and alternative hypotheses: a null hypothesis would be a neutral statement while the alternative hypothesis can have a...
First, a specific claim about the population parameter is proposed. The claim is based on the research question and is stated in a simple form. Further, an opposing statement to the claim is also stated. These statements can act as null and alternative hypotheses: a null hypothesis would be a neutral statement while the alternative hypothesis can have a...
Decision Making: Traditional Method
The process of hypothesis testing based on the traditional method includes calculating the critical value, testing the value of the test statistic using the sample data, and interpreting these values.
First, a specific claim about the population parameter is decided based on the research question and is stated in a simple form. Further, an opposing statement to this claim is also stated. These statements can act as null and alternative hypotheses, out of which a null hypothesis would be a...
First, a specific claim about the population parameter is decided based on the research question and is stated in a simple form. Further, an opposing statement to this claim is also stated. These statements can act as null and alternative hypotheses, out of which a null hypothesis would be a...
Hierarchy of Motor Control
The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.
Control Systems
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
At the heart...
PD Controller: Design
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...


