创新的元启发式优化方法,使用双三位一体来康复外骨
Deira Sosa Méndez1, Cecilia E García Cena1, David Bedolla-Martínez2
1Escuela Técnica Superior de Ingeniería y Diseño Industrial, Center for Automation and Robotics, UPM-CSIC, Universidad Politécnica de Madrid, Ronda de Valencia, 3, 28012 Madrid, Spain.
Sensors (Basel, Switzerland)
|April 13, 2024
概括
这项研究提出了一种设计上肢康复机器人的新方法,将重量减少40%以上,并改善人机交互. 该方法将工程设计原则与工业4.0技术相结合,用于增强医疗器械开发.
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
- 康复技术 康复技术 康复技术
背景情况:
- 上肢康复需要先进的机器人解决方案.
- 目前的医疗机器人在优化和人机交互方面面临着挑战.
- 整合工业4.0原则可以增强医疗器械开发.
研究的目的:
- 为开发上肢康复医疗机器人提出一个全面的元启发方法.
- 为了优化设备拓,动态模型,人机器人界面和控制系统.
- 通过实验测试和数字双胞胎模拟来验证方法.
主要方法:
- 应用一种包含工程设计三元和工业4.0支柱的元启发方法.
- 拓优化,开发5个自由度 (DOF) 的动态模型.
- 设计一个多模式的人机接口和数字双胞胎模拟.
- 使用带有和没有干扰的治疗例程进行实验评估.
主要成果:
- 机器人机制的重量减少了40%以上.
- 开发了一个人机接口,具有三个操作模式和一个生物机械可行的动力模型.
- 数字双胞胎评价的平均根平均平方误差 (RMSE) 为0.08rad (没有干扰) 和0.11rad (有干扰).
结论:
- 拟议的元启发方法提供了一种多功能和有效的方法来优化医疗机器人设计.
- 该方法可扩展,适用于广泛的医疗保健设备.
- 这种创新方法增强了先进康复技术的开发过程.
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