基于模型设计的气动执行器,用于用于跨肢截肢者的动态重新配置插座
Saeed Mollaee1, Amir HajiRassouliha1, David M Budgett1
1Auckland Bioengineering Institute, The University of Auckland, Auckland, New Zealand.
Frontiers in bioengineering and biotechnology
|January 7, 2025
概括
这项研究引入了用于假肢插座的新执行器阵列,通过降低压力来提高舒适度. 经过验证的模型准确地预测了执行器的行为,以获得更好的假肢和机器人设备设计.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物材料工程 生物材料工程
- 生物力学 生物力学
背景情况:
- 假肢插座往往会对使用者造成局部压力和不适.
- 开发可适应的假肢接口需要精确的软执行器行为建模.
研究的目的:
- 引入一个具有成本效益的,可扩展的气动执行器阵列,以实现动态皮肤符合性.
- 系统地识别,参数化和验证这些执行器的有限元分析的组成模型.
- 调查执行器设计,材料特性和减压表面变形之间的关系.
主要方法:
- 有限元分析 (FEA) 用于在现实的负载下建模执行器行为.
- 模拟了270个设计变化,以检查表面变形场.
- 为了准确的非线性变形测量,采用了一种新的斑点成像技术.
主要成果:
- 对于表面变形,FEA在70μm以内实现了预测准确度.
- 斑点成像提供了~40μm精度的位移测量.
- 奥格登N3模型准确预测了执行器变形 (准确率为16%).
结论:
- 设计因素显著影响执行器表面变形和压力分布.
- 经过验证的建模策略和成像技术对于优化软执行器阵列至关重要.
- 这些发现可应用于各种机器人应用,这些应用需要可变形,承载式接口.
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