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相关概念视频

Development of the Limb Synovial Joints01:07

Development of the Limb Synovial Joints

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Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
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One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
488
Movement Joints in Buildings01:27

Movement Joints in Buildings

117
Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
The simplest type of movement joints, working joints, are...
117
Muscle Coordination and Action01:24

Muscle Coordination and Action

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Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....
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Knee Joint01:23

Knee Joint

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The knee joint is the most complicated joint in the body. It consists of three articulations– two tibiofemoral and one patellofemoral. As is characteristic of synovial joints, the knee joint has a thin articular capsule that partially surrounds this joint cavity. Additionally, several ligaments, muscles, and cartilaginous structures support the movement of the knee.
A total of seven ligaments support the knee joint. The patellar ligament, which is also attached to the quadriceps femoris...
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Ankle Joint01:10

Ankle Joint

1.6K
The ankle is formed by the talocrural joint (crural = leg). It consists of the articulations between the talus bone of the foot and the distal ends of the tibia and fibula of the leg. The superior aspect of the talus bone is square-shaped and has three areas of articulation. The top of the talus articulates with the inferior tibia. This is the portion of the ankle joint that carries the body weight between the leg and foot. The sides of the talus are firmly held in position by the articulations...
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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
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估计人类关节时刻统一了外骨的控制,减少了用户的努力.

Dean D Molinaro1,2, Inseung Kang3, Aaron J Young1,2

  • 1George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA.

Science robotics
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概括

这项研究介绍了一种统一的机器人外骨控制框架,该框架使用时卷积网络 (TCN) 来适应协助增强人类移动性. 该系统显著降低了代谢成本,使先进的外骨技术更容易用于现实世界.

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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
  • 机器学习 机器学习

背景情况:

  • 目前的机器人下肢外骨架在现实应用中面临着挑战,原因是特定环境的控制要求.
  • 需要具有适应性和用户独立的控制系统来提高外骨的生存能力.

研究的目的:

  • 提出一个统一的外骨控制框架,根据实时用户生物力学自主调整辅助.
  • 评估时间卷积网络 (TCN) 的性能,以估计用户关节时刻.
  • 评估统一控制器对用户代谢成本和生物机械力度的影响.

主要方法:

  • 开发了一种统一的控制框架,用于部外骨架,使用时卷积网络 (TCN).
  • 据TCN估计,即时的用户联合时刻提供了适应性协助.
  • 在没有用户特定校准的情况下,在35个门诊条件中评估了系统的准确性.
  • 测量了用户的新陈代谢成本和下肢积极工作在平地和倾斜行走.

主要成果:

  • 在各种条件下,TCN在联合动量估计中实现了较低的平均根平均平方误差 (0.142Nm/kg).
  • 统一控制器显著降低了用户在行走时的代谢成本.
  • 在外骨架的帮助下,下肢积极工作显著下降.
  • 该系统在不需要用户特定校准的情况下展示了有效的性能.

结论:

  • 开发的统一控制框架和基于TCN的估计提供了适应性外骨架辅助的强大解决方案.
  • 这项技术显著提高了用户的移动性,减少了体力劳动,弥合了实验室研究和实际应用之间的差距.
  • 这些发现表明,这种方法可以使先进的外骨控制成为更广泛的用户社区的可行性.