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分析人类行走作为一个混乱的时间序列:使用非线性动力学工具
Mouaz Al Kouzbary1, Hamza Al Kouzbary1, Jingjing Liu1
1Center for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.
Computer methods in biomechanics and biomedical engineering
|September 4, 2024
概括
人类步行的复杂性随着速度的增加而增加,影响机器人假肢的控制. 使用碎形维度和光谱的稳定性分析揭示了对先进假肢设计的运动动态的见解.
科学领域:
- 生物力学和机器人技术
- 人类机动分析分析
- 控制系统工程 控制系统工程
背景情况:
- 了解人类行走的复杂性对于开发先进的机器人假肢至关重要.
- 以前的研究已经探索了步行稳定性,但需要综合复杂度指标的全面分析.
- 研究步态参数与控制系统要求之间的关系对于功能性假肢设计至关重要.
研究的目的:
- 为了研究人类在不同条件下行走的复杂性和稳定性.
- 探索这些步行特征对机器人假肢控制系统的影响.
- 用先进的计算方法分析跑步和楼梯行走期间的步态动态.
主要方法:
- 采集了14名健康个体的运动数据,使用了7个惯性测量单位.
- 参与者以不同的速度跑步,爬楼梯/下楼任务.
- 使用多种计算方法分析了分数维度,光谱和利亚普诺夫指数 (LyE) 的数据.
主要成果:
- 梯子的光谱值为0.538和跑步的0.575,表明速度增加的复杂性.
- 利亚普诺夫指数分析显示,在楼梯上升/下降过程中,骨方向的变化很小.
- 双向ANOVA证实了行走速度和类型对光谱的显著影响;碎形维度随速度而显著变化.
结论:
- 人类行走表现出更高的速度增加了复杂性和不确定性,这是假肢控制的关键因素.
- 楼梯行走显示出一定的稳定性在骨方向,相关的假肢设计.
- 结果为提高机器人假肢控制系统的适应性和性能提供了关键数据.
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