一个活跃的弹质量模型与生物仿真地面反应力用于多个地形
IEEE transactions on bio-medical engineering
|July 7, 2025
概括
这项研究提出了一种新的步态模型,可以准确地预测人类在平坦的地面,楼梯和斜坡上行走. 模型 模型的模型
科学领域:
- 生物力学和机器人技术
- 人类机动分析分析
- 辅助设备控制控制器 辅助设备控制器
背景情况:
- 人类的运动涉及到各种各样的活动,如在平坦的地面上行走,楼梯和斜坡.
- 预测人类运动对于设计下肢辅助设备至关重要.
- 现有的步态模型主要侧重于平地行走动态.
研究的目的:
- 开发一个概念步态模型,能够模拟平面地面,楼梯和斜坡谈判 (高达+/- 42度).
- 确保模型产生与人类数据相匹配的仿生地面反应力 (GRF).
主要方法:
- 通过整合主动元素和七个控制参数,扩展了被动双脚弹质量模型.
- 调整了这些参数,以准确复制人体在楼梯上行走时的GRF.
- 进行了参数分析,以了解它们对GRF的影响.
主要成果:
- 优化模型显示了与人体楼梯行走的GRF有很强的相关性 (中位数R_x>0.89,R_y>0.96).
- 模型成功地模仿了在斜坡行走期间的人类GRF.
- 确定了一个减少的五参数模型,在GRF预测中保持了高保真度.
结论:
- 开发的步态模型增强了在不同地形上预测人类运动的预测.
- 该模型可以为动力下肢外骨和假肢的控制策略提供信息,特别是用于脚部位置规划.
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