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柔软的脚外骨架可以抵消落脚和过度的反转

Xiaochen Zhang¹, Yi-Xing Liu¹, Ruoli Wang¹

¹KTH MoveAbility, Department of Engineering Mechanics, KTH Royal Institute of Technology, Stockholm, Sweden.

Frontiers in neurorobotics

|September 5, 2024

概括

这项研究引入了一种新型的软脚外骨架,以帮助落脚,一种常见的步态障碍. 该设备在行走时有效地使脚运动正常化,显示了康复的潜力.

科学领域:

生物医学工程生物医学工程
康复技术康复技术康复技术
生物力学生物力学

背景情况:

落脚,一个常见的中风后的步行病理,损害了脚的清除,需要补偿运动.
现有的辅助设备往往缺乏对脚的多DOF (自由度) 支持.
可穿戴外骨架为运动辅助和康复提供了一个有希望的途径.

研究的目的:

开发和评估一种柔软的脚外骨架,能够同时协助两个自由度:背和反转.
评估外骨在模拟落脚的个体中使步态参数正常化的有效性.

主要方法:

一个柔软的脚外骨架与使用登电缆的新型执行和传输系统被设计出来.
该系统允许同时协助背部屈曲和反转,并配合无力控制器.
概念验证实验包括在非残疾人身上进行坐着运动测试和行走试验,模拟落脚.

主要成果:

坐着的测试显示出较低的角度误差 (<1.5°的背部/脚部屈曲,<1.4°的反转).
无力控制器有效地弥补了脚部屈曲期间设备阻力.
步行测试显示了脚关节和脚段运动的正常化,包括脚的倾斜,初接触时的脚逆转和摆动阶段清除.

结论:

开发的软脚外骨架可以同时协助两个脚自由度.
该设备显示出有很大的潜力,可以帮助患有落脚和过度倒置的个体,改善步态正常.

关键词:

一个辅助设备的辅助设备.生物力学生物力学步态分析步态分析步行障碍障碍步行障碍软机器人软机器人软机器人

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