在膝关节外骨架上的新设计,配有合规的执行器,用于中风后康复
Lin Wu1,2, Chao Wang3, Jiawei Liu4
1Institute of Robotics, Autonomous System and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK.
Sensors (Basel, Switzerland)
|January 11, 2025
概括
这项研究介绍了一种新的膝关节外骨架,使用连续弹性执行器 (SEA) 进行安全的适应性康复. 临床试验表明,它有效地减少了中风患者的肌肉,改善了早期干预.
科学领域:
- 康复工程 康复工程
- 机器人技术 机器人技术 机器人技术
- 神经科学是一个神经科学.
背景情况:
- 膝关节疾病和与中风相关的损伤带来了重大的康复挑战.
- 机器人辅助疗法提供了一种解决方案,可以减少治疗师的负担并提高患者的治疗结果.
- 对于卧床患者来说,早期干预至关重要,但选择有限.
研究的目的:
- 设计和评估一种新的膝关节外骨架,用于安全和适应性康复.
- 为了使卧床中风患者能够进行早期干预.
- 评估外骨在减少肌肉性的有效性.
主要方法:
- 开发了一种带有紧系列弹性执行器 (SEA) 的膝关节外骨架,以实现高扭矩密度和合规性.
- 实施可变阻抗控制方法,用于准确的位置跟踪.
- 使用和不使用人类参与者进行性能测试,包括对中风患者进行初步临床研究.
主要成果:
- 这种新的膝关节外骨展示了安全和适应性康复能力.
- 可变阻抗控制确保了准确的位置跟踪.
- 初步的临床结果显示,中风患者的肌肉性减少,特别是在更快的速度.
结论:
- 开发的SEA为机器人康复设备提供了更好的扭矩密度.
- 带有级联位置控制的膝关节外骨架是有效的缓解中风患者的性.
- 这项工作推动了SEA在膝关节疾病的机器人辅助康复中的应用.
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...
01:10Ankle 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...