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相关概念视频

Ankle Joint01:10

Ankle Joint

The ankle is formed by the talocrural joint (crural = leg). It consists of the articulations between the talus bone of the foot and the distal ends of the tibia and fibula of the leg. The superior aspect of the talus bone is square-shaped and has three areas of articulation. The top of the talus articulates with the inferior tibia. This is the portion of the ankle joint that carries the body weight between the leg and foot. The sides of the talus are firmly held in position by the articulations...

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Optimal Energy Shaping and Force Amplification Framework for Task-Agnostic, Biomimetic Ankle Exoskeletons.

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Controlling Powered Prosthesis Joint Impedance Over Continuous Stance Transitions Between Walking and Stair Ascent/Descent.

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Effects of a Powered Knee-Ankle Prosthesis on Intact Joint Biomechanics Across Sustained Activities of Daily Life: A Case Series.

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Vibrotactile Haptic and Gesture Feedback in a Smartwatch for Controlling a Multi-Activity Powered Knee-Ankle Prosthesis.

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相关实验视频

Updated: Jul 8, 2026

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
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设计和验证一个模块化,可反向驱动的脚外骨架.

Susan Zhao1, Katharine Walters1, José Montes Pérez1

  • 1Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA.

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
|November 11, 2024
PubMed
概括

这项研究引入了一种新的可反向驱动的脚外骨架模块,增强了M-BLUE系统. 它提供精确的扭矩辅助,用于脚部和背部曲,改善自然的人机交互.

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
  • 人与机器人的交互

背景情况:

  • 部分辅助脚外骨面临着平衡扭矩,控制,合规性和质量的挑战.
  • 几乎直接驱动的驱动器提供了一个解决方案,具有固有的反向驱动能力和精确的控制.
  • 之前,M-BLUE系统已经整合了这些执行器,以提供部和膝盖辅助.

研究的目的:

  • 设计和验证一个可向后驱动的脚外骨模块.
  • 为了扩展模块化M-BLUE系统的脚辅助功能.
  • 为了使双向扭矩能够用于研究不同用户的控制方法和步态.

主要方法:

  • 开发了一种新型的可向后驱动的脚外骨架模块.
  • 使用准直向驱动驱动器来辅助脚侧和背侧.
  • 执行器性能和控制带宽的基板测试.
  • 实现了一个最佳的任务无意识的能量塑造控制器.
  • 在日常生活活动中验证了单个人类主体的系统.

主要成果:

  • 脚外骨架模块展示了双向扭矩能力.
  • 基板测试证实了执行器在位置,电压和电流控制模式中的性能.

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  • 在人体实验中,控制器成功提供了仿生扭矩辅助.
  • 该系统适用于在日常生活中的各种活动中协助脚关节.

    • 结论:

    • 新的可向后驱动的脚外骨架模块有效地扩展了M-BLUE系统.
    • 该设计允许自然的用户交互和精确的扭矩辅助.
    • 这项技术有可能用于康复和增强人类运动.