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基于sEMG生物反为下肢外骨架的人类在循环轨迹的优化

Ling-Long Li1, Yue-Peng Zhang2, Guang-Zhong Cao1

  • 1Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots, College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China.

Sensors (Basel, Switzerland)
|September 14, 2024
PubMed
概括

这项研究介绍了下肢外骨架 (LLEs) 的HITL运动规划方法. 它使用表面电肌学 (sEMG) 生物反来个性化LLEs,以提高人类的性能和康复.

关键词:
在循环中的人类.人类机器系统是人类机器系统.下肢外骨架 下肢外骨架运动规划 运动规划

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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
  • 人机系统 人机系统

背景情况:

  • 下肢外骨架 (LLEs) 提供康复和行走辅助,但往往无法解释个体差异.
  • 个性化是智能人机系统 (HMS) 优化人类性能的关键.
  • 人类生理反应是优化LLEs轨迹的关键因素.

研究的目的:

  • 为LLEs提出一种新的人在循环 (HITL) 运动规划方法.
  • 通过整合生物反来增强LLE的适应性和个性化.
  • 在外骨架辅助运动期间改善人类的表现和生理反应.

主要方法:

  • 为人类外骨架系统开发了一种混合动力模型.
  • 采用离线轨迹优化,使用直接调配来创建基于能量最佳性的步态库.
  • 综合HITL轨迹选择使用普森采样与表面电肌学 (sEMG) 生物反.
  • 使用混合零动力控制策略实现选择的轨迹.

主要成果:

  • 拟议的HITL方法有效地优化了LLEs的步行轨迹.
  • 普森采样使得基于实时生物反的个性化轨迹选择成为可能.
  • 实验验证表明,与非个性化方法相比,HITL方法的有效性和优越性.
  • 该系统成功地将LLE行为适应个人用户需求和生理信号.

结论:

  • HITL运动规划方法显著提高了LLE个性化和性能.
  • 利用sEMG生物反对于优化人类外骨相互作用至关重要.
  • 这种方法为智能LLEs在康复和辅助应用中提供了一个有希望的方向.