基于电容传感器的连续步行阶段的自适应估计
Dongfang Xu1,2, Zhitong Zhang1,3, Simona Crea4,5,6
1Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China.
Wearable technologies
|March 15, 2024
概括
研究人员开发了一种新方法,用残余肌肉的电容信号来估计机器人跨关节假肢中的连续步行阶段. 这一进步有助于开发更灵敏,更自然的假肢控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 假肢手术 假肢手术是一门专业.
背景情况:
- 持续步行阶段估计对于先进的机器人假肢控制至关重要.
- 现有的方法可能缺乏无假肢功能所需的精度.
研究的目的:
- 开发和验证一个离线适应性估计方法,用于跨关节假肢的连续步行阶段.
- 为了利用残余四肢肌肉的电容感应来检测步行阶段.
主要方法:
- 采用适应性振荡器用于步行阶段估计.
- 利用电容传感来记录肌肉变形信号.
- 收集了两名跨肢截肢者在不同速度和倾斜度的数据.
主要成果:
- 获得的最大和最小估计误差分别为0.80rad和0.054rad.
- 错误占步行周期的1.27%和0.86%,显示出高精度.
- 验证了该方法在不同速度和坡道上的有效性.
结论:
- 提出了一种有效的方法,用剩余的肌肉电容信号来估计连续步行阶段.
- 这些发现为实时,连续控制机器人横假肢提供了基础.
- 这种技术增强了更直观和适应性的假肢功能的潜力.
相关概念视频
Energy Stored in a Capacitor: Problem Solving
In 1749, Benjamin Franklin coined the word battery for a series of capacitors connected to store energy. Capacitors store electric potential energy that can be released over a short time. This property means capacitors have a wide range of applications.
Capacitor-discharge ignition is a type of ignition system commonly found in small engines where the energy released from a capacitor ignites an induction coil that, in turn, fires the spark plug.
To calculate the energy stored in a capacitor of...
Capacitor-discharge ignition is a type of ignition system commonly found in small engines where the energy released from a capacitor ignites an induction coil that, in turn, fires the spark plug.
To calculate the energy stored in a capacitor of...
RC Circuit with Source
When a DC source is abruptly applied to an RC (Resistor-Capacitor) circuit, the voltage can be represented as a unit step function. The voltage across the capacitor, known as the step response, characterizes how the circuit reacts to this sudden change in input.
Due to the inherent properties of a capacitor, its voltage cannot change instantaneously. This means that immediately after the switch is closed, the capacitor's voltage remains the same as it was just before the switch was closed.
By...
Due to the inherent properties of a capacitor, its voltage cannot change instantaneously. This means that immediately after the switch is closed, the capacitor's voltage remains the same as it was just before the switch was closed.
By...
Series RLC Circuit with Source
Consider the operation of an automobile ignition system, a crucial component responsible for generating a spark by producing high voltage from the battery. This system can be described as a simple series RLC circuit, allowing for an in-depth analysis of its complete response.
In this context, the input DC voltage serves as a forcing step function, resulting in a forced step response that mirrors the characteristics of the input. Applying Kirchhoff's voltage law to the circuit yields a...
In this context, the input DC voltage serves as a forcing step function, resulting in a forced step response that mirrors the characteristics of the input. Applying Kirchhoff's voltage law to the circuit yields a...
Parallel RLC Circuits
Street lamps equipped with RLC surge protectors are an excellent example of applying circuit analysis in practical scenarios. These surge protectors safeguard the lamp's components against sudden voltage spikes.
A simplified parallel RLC circuit model with a DC input source generating a step response is employed in this context. When the switch is turned on, Kirchhoff's current law is applied, leading to a second-order differential equation.
A simplified parallel RLC circuit model with a DC input source generating a step response is employed in this context. When the switch is turned on, Kirchhoff's current law is applied, leading to a second-order differential equation.
Linear Approximation in Frequency Domain
Linear systems are characterized by two main properties: superposition and homogeneity. Superposition allows the response to multiple inputs to be the sum of the responses to each individual input. Homogeneity ensures that scaling an input by a scalar results in the response being scaled by the same scalar.
In contrast, nonlinear systems do not inherently possess these properties. However, for small deviations around an operating point, a nonlinear system can often be approximated as linear.
In contrast, nonlinear systems do not inherently possess these properties. However, for small deviations around an operating point, a nonlinear system can often be approximated as linear.
Capacitance: Single-Phase And Three-Phase Line
In electrical power systems, understanding the capacitance of transmission lines is fundamental for efficient operation.
Single-Phase Lines
Consider a single-phase, two-wire transmission line with equal phase spacing energized by a voltage source. One conductor carries a uniform positive charge, while the other carries an equal negative charge. The capacitance C of the line can be derived from the voltage V between the conductors. For a one-meter section of the line, the capacitance is given...
Single-Phase Lines
Consider a single-phase, two-wire transmission line with equal phase spacing energized by a voltage source. One conductor carries a uniform positive charge, while the other carries an equal negative charge. The capacitance C of the line can be derived from the voltage V between the conductors. For a one-meter section of the line, the capacitance is given...


