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一个机器人模拟器用于系统地探索横双节节假肢设计

Anthony J Anderson^1,2, Kira A Gauthier^1,2, Mathew Sunil Varre^1,2

¹Department of Mechanical Engineering, University of Washington, Seattle, WA, USA.

Journal of rehabilitation and assistive technologies engineering

|September 18, 2024

概括

这项研究介绍了一种用于双关节假肢的机器人模拟器,以改善跨肢损失的个体的行走. 该系统有效地提供膝盖和脚辅助,增强步态结果.

科学领域:

生物医学工程生物医学工程
机器人技术机器人技术机器人技术
生物力学生物力学

背景情况:

跨肢损失往往导致由于缺少胃肌肌肉而导致行走障碍.
现有的双关节假肢在设计和控制方面面临着挑战,以实现最佳的胃膜功能恢复.

研究的目的:

介绍和评估一个新的机器人双关节假肢仿真器.
评估模拟器的机械电子性能和in-vivo辅助能力.

主要方法:

开发一个机器人双关节假肢模拟器,具有单关节脚假肢和膝关节外骨架.
机电表现的基板表征,包括控制器带宽.
硬件在循环中的实验和走路试验与跨肢截肢者.

主要成果:

在行走实验中,模拟器展示了有效的膝盖和脚辅助.
控制器性能显著改善,扭矩跟踪错误减少了84%.
用户偏好的调整导致膝关节峰值扭矩约为生物膝关节矩的20%.

结论:

双关节假肢模拟器显示出作为一个多功能研究平台的希望.
该系统为推进下肢辅助设备技术提供了有价值的见解.
进一步的发展可以帮助恢复截肢者更自然的步态.

关键词:

胃中半导体胃中半导体截肢是一种截肢.有关辅助设备的使用.外骨架 (exoskeleton) 是一个外骨架.

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