基于运动的假肢控制与角度轨迹越来越接近自然的手臂协调
Effie Segas1, Vincent Leconte1, Emilie Doat1
1University of Bordeaux, CNRS, INCIA, UMR, 5287 Bordeaux, France.
Biomimetics (Basel, Switzerland)
|September 27, 2024
概括
跨部假肢的新型肌电动手控制器提供了更流,更直观的物体抓取. 这些先进的控制适应用户的运动,改善假肢功能,而不会增加截肢者的工作负担.
科学领域:
- 生物医学工程 生物医学工程
- 神经科学是一个神经科学.
- 康复机器人 康复机器人
背景情况:
- 传统的肌电跨关节假肢缺乏对多个自由度的直观控制.
- 之前的人工神经网络 (ANN) 方法使自然手臂的性能能够抓住物体,但导致了不切实际的,突然的假肢运动.
研究的目的:
- 开发和评估新型肌电控制方法,用于消除突然运动的跨部假肢.
- 评估基于角轨迹的新控制器的性能,可用性和工作量,对有和没有肢体损失的参与者进行评估.
主要方法:
- 实施了新的控制算法,使用基于茎移动速度和配置差异的角度轨迹.
- 测试了线下和线上与参与者在循环中的控制,与自然控制条件进行比较.
- 评估的性能指标包括移动时间,物体到达和定位准确性.
主要成果:
- 新的控制器使得参与者,包括那些经过关节失去四肢的人,能够在没有事先训练的情况下有效地触及和定位物体.
- 观察到运动时间略有增加,但对上肢残疾的参与者来说,可用性和工作负载并没有降低.
- 在线和离线测试表明了流,有效的假肢手控制的潜力.
结论:
- 开发的基于角轨迹的肌电控制系统为跨部假肢提供了显著的改进,提供了更流,更直观的操作.
- 这些发现表明,对于上肢损失的个人来说,其具有很高的潜在可接受性和有效性,为更实用的假肢解决方案铺平了道路.
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