弹与电机:在不同速度行走时,对下肢提供理想的辅助
Israel Luis1, Maarten Afschrift2, Elena M Gutierrez-Farewik1,3
1KTH MoveAbility, Department of Engineering Mechanics, KTH Royal Institute of Technology, Stockholm, Sweden.
PLoS computational biology
|September 4, 2024
概括
辅助外骨架可以降低行走期间的代谢成本. 这项研究模拟了基于电机和弹的辅助,发现虽然生理时刻减少了,但代谢节省因执行模式和步行速度而异.
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
- 人与计算机的交互
背景情况:
- 辅助外骨显示出降低行走期间代谢成本的前景.
- 之前的研究集中在偏好的步行速度上,使多种速度的潜在好处未被探索.
- 肌肉骨模拟提供了一种方法来预测辅助设备,肌肉力学和能量消耗之间的复杂相互作用.
研究的目的:
- 模拟和比较基于电机和弹的辅助外骨架对不同步行速度的代谢率的影响.
- 调查最佳的辅助时刻,以尽量减少行走期间的肌肉激活.
- 分析不同启动模式对关节时刻和整体代谢成本的影响.
主要方法:
- 利用一种通用的肌肉骨模型,调整肌参数,从肌肉动作计算代谢率.
- 模拟以多种速度行走,以理想的基于电机和基于弹的驱动来实现脚脚下,膝盖延伸,部曲和部绑架.
- 在辅助和无辅助条件下计算和比较代谢率.
主要成果:
- 无论是基于电机还是基于弹的驱动模式,都显著减少了生理关节运动时刻.
- 基于运动的辅助,用于脚脚下和部曲,降低了新陈代谢率,在更高的步行速度时效果更大.
- 基于弹的部曲和绑架辅助有时会增加新陈代谢率,尽管肌肉激活减少;膝盖延伸辅助提供了轻微的新陈代谢减少,无论模式.
结论:
- 优化最小肌肉激活的辅助外骨策略可能不能保证最大的代谢节约.
- 辅助外骨在降低代谢成本方面的有效性取决于执行模式,关节目标和步行速度.
- 需要进一步的实验验证,以完善建模假设,并确认用于辅助外骨开发的模拟结果.
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