预测控制肌负荷跨越快速和缓慢的肌肉抽在一个模拟系统与并行启动的模拟系统
Mahdi Nabipour1, Gregory S Sawicki2, Massimo Sartori1
1Neuromuscular Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, the Netherlands.
Wearable technologies
|March 12, 2025
概括
这项研究介绍了一种新的可穿戴机器人控制器,可以精确地管理肌单位 (MTU) 动态. 先进的控制框架通过限制峰力量来确保安全,有助于预防和康复伤害.
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
- 人与计算机的互动.
背景情况:
- 目前的下肢可穿戴机器人控制主要侧重于降低代谢成本或模仿生物关节扭矩.
- 对直接控制肌单元 (MTU) 动态的关注较少,这对于不同肌肉纤维类型 (例如,慢型I到快型IIx) 的强度至关重要.
研究的目的:
- 为可穿戴机器人开发一种新的闭环控制框架,能够直接控制体内MTU动态.
- 确保控制器在不同的肌肉纤维表型中具有强度,并可以精确地管理MTU动态,以预防和康复伤害.
主要方法:
- 利用非线性模型预测控制 (NMPC) 调节尾肌力量的峰值.
- 采用了计算效率高的模型,集成了修改后的Hill型MTU收缩动力学组件和具有并行执行的脚关节模型.
主要成果:
- 闭式肌肉启动模型展示了微秒计算时间,证明它对不同肌肉收缩速度具有强大作用.
- 该NMPC控制器成功地在生理学电机延迟极限 (<100ms) 内保持了肌力控制.
结论:
- 开发的闭环控制框架使MTU动态的精确实时管理成为可能.
- 这项技术具有创造先进可穿戴机器人的巨大潜力,用于预防伤害,康复和提高人类表现.
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