2024年ESMAC最佳论文:定义外骨目标问题:使用双级优化模拟具有明确目标的最佳辅助时刻
Israel Luis1, Elena M Gutierrez-Farewik2
1KTH MoveAbility, Department of Engineering Mechanics, KTH Royal Institute of Technology, Stockholm, Sweden.
Gait & posture
|June 24, 2025
概括
运动辅助的最佳辅助时刻取决于具体的目标,例如最大限度地减少肌肉努力或代谢成本. 这个模拟框架揭示了人类与设备交互的不同目标的独特辅助策略.
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
- 人与计算机的交互
背景情况:
- 肌肉骨模拟为运动辅助和肌肉动态的策略提供信息.
- 外骨架可以补充肌肉力量,以实现各种目标,例如减少劳动力或分配负载.
研究的目的:
- 提出一个模拟框架,以确定最佳的援助策略.
- 在反向模拟方案中,以双级优化问题来制定最佳辅助.
主要方法:
- 采用双级优化方法来计算辅助时刻.
- 代地解决肌肉冗余问题,以找到最佳的辅助时刻.
- 预测对脚和部运动的最佳辅助有三个目标:最小的肌肉激活,代谢率和时刻.
主要成果:
- 最佳的辅助时刻轨迹是独一无二的,并且取决于特定的辅助目标.
- 辅助的差异是由肌肉水平的力量贡献和机械工作解释的.
- 最小代谢率辅助预测时间和持续时间与实验结果一致.
结论:
- 对辅助目标的明确表述对于研究人机交互至关重要.
- 模拟框架为确定最佳援助提供了一种系统方法.
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