基于力量的神经机械控制动力假肢脚的动力
Amirreza Naseri1, Martin Grimmer2, André Seyfarth2
1Department of Mechanical Engineering, Tarbiat Modares University, Jalal al-Ahmad, Nasr, Tehran, Iran.
Wearable technologies
|July 25, 2024
概括
一种新的控制策略,力调节合规脚 (FMCA),利用地面反应力来改善假肢脚的控制. 这种生物灵感的方法通过模仿自然的脚运动来确保截肢者的稳定行走.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 神经修复品是一种神经修复品.
背景情况:
- 开发先进的假肢需要复杂的控制系统来模仿人类的自然运动.
- 现有的基于神经肌肉反射的控制器提供功能,但可能是复杂的.
研究的目的:
- 引入和评估一种新的基于神经机械力量的控制策略,即强力调节合规脚 (FMCA),用于动力假肢脚.
- 评估FMCA提供稳定的行走和复制类似人类脚生物力学的能力.
主要方法:
- FMCA直接使用垂直地面反应力作为感觉反来调节脚关节阻抗.
- 模拟使用跨肢截肢者行走模型进行,以比较FMCA与基于反射的控制器.
- 实验对非截肢者进行了实验,使用配备FMCA的动力假肢足.
主要成果:
- 在模拟中,FMCA成功地预测了类似人类的脚扭矩在各种步行速度.
- 在截肢者模拟模型中,FMCA策略使步行稳定,提供了足够的推开.
- 实验结果表明,FMCA可以复制非截肢者的参考脚扭矩和角度,以首选的步行速度.
结论:
- FMCA为动力假肢脚提供了比现有控制器更简单,更有生物灵感的替代方案.
- 该战略显示了增强假肢功能和用户移动性的巨大潜力.
- 进一步的研究应该探索FMCA适应不同步行速度的适应性及其在截肢目标人群中的有效性.
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