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相关概念视频

Muscles that Move the Leg01:23

Muscles that Move the Leg

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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...
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Bones of the Lower Limb: Tibia and Fibula01:10

Bones of the Lower Limb: Tibia and Fibula

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The tibia is the main weight-bearing bone of the lower leg. It is larger than the fibula with which it is paired. The tibia is also the second longest bone in the body and is located right below the skin. The proximal end of the tibia forms the medial and the lateral condyle, which articulates with the condyles of the femur to form the knee joint. Between the articulating surfaces is the irregular elevated area known as the intercondylar eminence that serves as the inferior attachment point for...
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Bones of the Lower Limb: Femur and Patella01:16

Bones of the Lower Limb: Femur and Patella

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The femur is the body's longest and strongest bone spanning the thigh region. Its head articulates with the acetabulum of the hip bone to form the hip joint. A minor indentation on the medial side of the femoral head, called the fovea capitis, serves as the site of attachment for the ligament of the head of the femur. This weak ligament spans the femur and acetabulum and supports the hip joint. The narrowed region below the head is the neck of the femur. The inclination angle between the...
2.1K
Knee Joint01:23

Knee Joint

1.4K
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...
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Ankle Joint01:10

Ankle Joint

1.4K
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...
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Development of the Limb Synovial Joints01:07

Development of the Limb Synovial Joints

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Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
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相关实验视频

Updated: May 29, 2025

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
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带有十足度特征的腿类机器人 生物膝关节关节

Qi Wen1, Meiling Zhang1, Jianwei Sun1

  • 1School of Mechatronic Engineering, Changchun University of Technology, Changchun, 130012, China.

Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|February 3, 2025
PubMed
概括
此摘要是机器生成的。

这项研究介绍了一种新的基于时分的生物腿机器人,它模仿了人类的骨肌肉系统. 它使用独特的膝盖机制实现了类似人类的步态和振动吸收,减少了对运动的依赖.

关键词:
适应性结构是一种适应性结构.仿生膝关节的关节 仿生膝关节的关节有腿的机器人机器人十位性结构结构的十位性结构.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物力学 生物力学
  • 机械工程 机械工程

背景情况:

  • 传统的腿式机器人严重依赖复杂的联合电机和控制系统,增加成本和维护.
  • 现有的设计往往无法准确地复制人类骨肌肉系统的功能.
  • 改善联合机制对于推进机器人机动和仿生技术至关重要.

研究的目的:

  • 引入一种由人类腿部形态学和动力学启发的新生物腿类机器人结构.
  • 为了复制人类膝盖的可变即时旋转中心 (ICR),使用时分性原理.
  • 为了克服传统的依赖多个联合电机在腿类机器人.

主要方法:

  • 这项研究采用了延伸性原理来设计生物腿部结构,从人类腿部形态学中汲取灵感.
  • 一个区分滚动和滑动运动的系统复制了人类膝盖的可变ICR.
  • 一个绳子解锁机制和延伸性单元功能使得没有膝盖电机的合规-刚性-合规过渡成为可能.

主要成果:

  • 生物腿成功地复制了人类膝盖的可变ICR,使步态相似和振动吸收.
  • 延伸性单元的可变形性和自我恢复性,以及绳子解锁机制,促进了顺的关节过渡.
  • 该系统只使用单个部直流电机和基本控制来实现全腿循环运动.

结论:

  • 基于度的生物腿为传统腿类机器人提供了成本效益和低维护的替代方案.
  • 这种设计成功地模仿了人类腿部的功能,包括步态和振动吸收,机械复杂性降低.
  • 这项创新展示了腿类机器人设计的新范式,最大限度地减少了对复杂关节执行的依赖.