开发一个个性化的稳定和减力下肢外骨架
Guo-Shing Huang1, Meng-Hua Yen1, Chia-Chun Chang1
1Department of Electronic Engineering, National Chin-Yi University of Technology, Taichung, Taiwan.
Biomedical physics & engineering express
|August 30, 2024
概括
这项研究开发了一个下肢外骨架机器人,它使用CNN-LSTM模型来增强行走稳定性. 该系统将用户的劳动力减少40%,帮助有运动障碍的个人.
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
- 人工智能的人工智能
背景情况:
- 开发稳定行走的辅助设备对于下肢疲软的人来说至关重要.
- 现有的下肢外骨架往往需要复杂的控制策略.
- 被动控制外骨架提供了一个更简单的方法,但需要有效的稳定性增强.
研究的目的:
- 开发一个个性化和稳定的被动控制下肢外骨架机器人.
- 使用深度学习模型实时调整外骨控制参数.
- 为了增强用户的步行稳定性和减少肌肉的努力.
主要方法:
- 一个个性化的被动控制下肢外骨架被开发出来.
- 用户关节角度和单独的压力中心 (CoP) 是卷积神经网络 (CNN) 长期短期记忆 (LSTM) 模型的输入.
- CNN-LSTM模型预测了控制方案的适应性,调整外骨参数以提高稳定性.
主要成果:
- 发育的外骨在正常和被动行走时表现出类似的COP趋势,在y坐标上有91%的相关性.
- 电肌图信号显示,在稳定的外骨系统下,直骨 Femoris 肌肉力量减少了 40%.
- 该系统成功地提高了步行稳定性,并减少了用户施加的力.
结论:
- 发达的下肢外骨架有效地帮助用户实现平衡和稳定的行走.
- 该系统显著减少了行走所需的体力劳动.
- 这项技术有望帮助中风和下肢疲软患者实现稳定的行走.
相关概念视频
01:09Changes in the Appendicular Skeleton with Age
The upper and lower limb initially develops as a small bulge called a limb bud, which appears on the lateral side of the early embryo. The upper limb bud appears near the end of the fourth week of development, with the lower limb bud appearing shortly after.
Initially, the limb buds consist of a core of mesenchyme covered by a layer of ectoderm. The ectoderm at the end of the limb bud thickens to form a narrow crest called the apical ectodermal ridge. This ridge stimulates the underlying...
Initially, the limb buds consist of a core of mesenchyme covered by a layer of ectoderm. The ectoderm at the end of the limb bud thickens to form a narrow crest called the apical ectodermal ridge. This ridge stimulates the underlying...
01:07Development of the Limb Synovial Joints
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...
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...