一个摇摆辅助控制器,用于提高半功率的关节假肢中膝盖曲的功能
概括
这项研究引入了一种用于转骨关节假肢的新型摇摆控制器,改善了走路时自然的膝盖运动和脚清除. 控制器无地整合了动力,改善了截肢者的步态,而无需采取补偿行动.
科学领域:
- 生物医学工程 生物医学工程
- 康复机器人 康复机器人
- 生物力学 生物力学
背景情况:
- 跨关节假肢经常面临来自人工辅助和用户努力的冲突电源输入的挑战.
- 现有的系统可能会在走路的摇摆阶段难以提供直观和适应性控制.
研究的目的:
- 开发和验证一个新的摇摆控制器,用于半动力转腿假肢.
- 解决假肢和用户之间竞争的电源输入问题.
- 为了增强自然的步态动态,特别是在摇摆阶段的峰值膝盖角度和脚的清除.
主要方法:
- 实施了一种新的控制方法,该方法修改了树动态,而不是添加外源动力.
- 一个自适应算法根据步行速度确定了一个单一的控制参数.
- 控制器的有效性通过对三名单边输骨截肢者进行行走实验来验证.
主要成果:
- 拟议的控制器在摇摆阶段成功地增加了峰值膝盖角度.
- 最低脚的距离被提高,降低了脚的风险.
- 没有观察到补偿性部动作的增加,这表明更自然的步态.
结论:
- 新的摇摆控制器有效地改善了转腿截肢者的行走的关键方面.
- 适应性参数选择确保了与速度相称的膝盖运动,模仿自然的步态.
- 这种方法在假肢控制方面提供了有前途的进步,提高了用户的移动性和安全性.
相关概念视频
01:23Knee Joint
The knee joint is the most complicated joint in the body. It consists of three articulations– two tibiofemoral and one patellofemoral. As is characteristic of synovial joints, the knee joint has a thin articular capsule that partially surrounds this joint cavity. Additionally, several ligaments, muscles, and cartilaginous structures support the movement of the knee.
A total of seven ligaments support the knee joint. The patellar ligament, which is also attached to the quadriceps femoris group...
A total of seven ligaments support the knee joint. The patellar ligament, which is also attached to the quadriceps femoris group...
01:23Muscles that Move the Leg
The movement of the legs is facilitated by numerous muscles located within the anterior, medial, and posterior compartments of the thigh.
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...