在步行过程中为膝盖的摆动透明度设定值,以告知外骨架设计
Chase W Mathews1, Delaney A Clawson2, Karl E Zelik1,2,3
1Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, United States of America.
PloS one
|January 17, 2025
概括
研究人员在行走和爬楼梯时定义了可接受的膝关节外骨阻抗. 这些发现有助于设计不妨碍自然运动的膝盖支架,改善用户体验和外骨架的有效性.
科学领域:
- 生物力学 生物力学
- 人与计算机的交互
- 机器人技术 机器人技术 机器人技术
背景情况:
- 膝关节外骨的目的是帮助或稳定人类的运动.
- 外骨的透明度在摇摆阶段至关重要,以避免阻碍自然步行.
- 摇摆时可接受的膝盖阻抗的定量值还没有得到很好的定义.
研究的目的:
- 描述在摇摆阶段膝盖硬和减缓的生物力学影响.
- 根据用户的感知和脚的清除,定义膝关节外骨的透明度值.
- 为了建立设计基准,以无障碍的机动与膝盖支架.
主要方法:
- 人类受试者实验涉及步行和楼梯上升/下降.
- 使用了经过修改的膝关节支架,具有不同的刚度 (0-4 Nm/rad) 和缓冲 (0-0.77 Nm/rad/s) 设置.
- 测量下肢动力学,膝关节肌肉活动,以及用户对阻抗的主观感知.
主要成果:
- 增加的刚性和减压显著改变了动力学,肌肉活动和感知阻抗.
- 硬度的透明度值中位数为1.76 Nm/rad (行走) 和2.95 Nm/rad (楼梯).
- 缓冲的中位透明度值为0.29Nm/rad/s,适用于步行和楼梯.
结论:
- 建立了膝关节外骨架设计的定量透明度值.
- 这些发现为开发更少侵入性和更有效的膝关节外骨架系统提供了关键的基准.
- 了解用户对膝盖阻抗的敏感性是优化外骨在运动过程中的性能的关键.
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