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软组织可以在膝关节外骨架使用过程中吸收惊人的能量

W Sebastian Barrutia¹, Ada Yumiceva¹, Mai-Ly Thompson¹

¹Crayton Pruitt Family Department of Biomedical Engineering, University of Florida, Gainesville, FL, USA.

Journal of the Royal Society, Interface

|December 3, 2024

概括

外骨软组织效应可以改变能量传递. 这项研究使用幻影来表明,组织变形减少了实际的关节辅助,在人类试验之前改善了外骨设计.

科学领域:

生物力学生物力学
机器人技术机器人技术机器人技术
人与外骨的相互作用

背景情况:

人体外骨架接口的软组织在负荷下变形.
这种变形会影响机械能量的吸收,回报和消散.
目前的外骨研究往往忽略了这些软组织效应,可能错误计算了关节辅助.

研究的目的:

量化软组织变形对膝关节外骨性能和能量分配的影响.
评估不同的外骨架辅助策略是如何受到界面机制的影响.
开发一种方法来估计外骨中的能量转移,并考虑软组织的影响.

主要方法:

使用合成下肢幻象模拟人类膝盖动力学和软组织变形.
在六种不同的弹刚性条件下测试了膝盖外骨架.
采用运动捕捉和负载单元数据来计算外骨和接口的时刻,刚度和能量贡献.

主要成果:

弹刚度的增加导致了更高的接口功率和更低的外骨功率.
在更高的力下软组织的压缩限制了对关节的功率转移的显著变化,尽管关节动力学是一致的.
外骨架辅助水平并没有显著改变由于组织变形而向关节输送的净功率.

结论:

软组织变形显著影响外骨的感知和实际性能.
对接口机制的计算对于准确评估外骨联合辅助至关重要.
开发的基于幻影的方法提供了一个有价值的工具,可以通过在人类测试之前预测能量分布来优化外骨设计.

关键词:

能源学能源学能源学外骨架 (exoskeleton) 是一个外骨架.人类外骨架接口机械幻影是一个机械幻影.软组织变形软组织变形合成肢体的人造肢体

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