改进的外推质量中心提高了外骨系统的安全性
Chang Wang1, Jian Cao2, Jianhua Zhang3
1School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, 100083, China.
Scientific reports
|April 11, 2025
概括
研究人员开发了一种新的平衡指数 (PXCoM) 和下肢外骨架机器人的步骤策略,以提高跌倒时的安全性. 这提高了人机系统的稳定性和康复培训.
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
- 人与机器人的交互
背景情况:
- 在外骨-人体系统中保持平衡和安全对于康复至关重要.
- 现有的推断质量中心 (XCoM) 指数在接近下降极限的准确性方面扎.
- 外部干扰对外骨的稳定性构成重大挑战.
研究的目的:
- 提出一个改进的平衡指数 (PXCoM) 来检测临界下降状态.
- 开发和验证平衡恢复策略,使用下肢外骨架的活跃步行来恢复平衡.
- 提高外骨架辅助康复的安全性和可靠性.
主要方法:
- 建立了一个反转的摆形模型,考虑外部干扰.
- 开发了一种新的,改进的外推质量中心 (PXCoM) 指数.
- 研究了活跃步进策略,以恢复不足的外骨的平衡.
- 建造并测试了一个下肢外骨架实验平台.
主要成果:
- 与XCoM相比,拟议的PXCoM指数在关键下降状态中显示出更高的检测准确性.
- 积极的步骤策略有效地恢复了人类外骨系统在重大干扰下的平衡.
- 实验验证证了开发的平衡传感和恢复机制的可行性.
结论:
- 在关键情况下,PXCoM指数可以更好地了解平衡状况.
- 在干扰期间,主动步进策略是有效的,以确保外骨-人体系统的安全.
- 这项研究有助于更安全,更有效的外骨架辅助康复培训.
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