动作假肢肘的设计和控制,以恢复上肢缺失的人的手臂摆动
概括
这项研究开发了一种动作假肢肘部,以恢复跨度截肢者手臂的自然摆动. 采用直驱电机的紧型设计显示出改善行走过程中的动态平衡的承诺.
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
- 假肢手术 假肢手术是一门专业.
背景情况:
- 人类移动过程中的动态平衡取决于调节全身的角动量.
- 上肢缺失导致身体质量和运动的不对称性,破坏了这种调节.
- 传统的跨度假肢无法恢复受控的手臂摆动,使得不对称性没有得到解决.
研究的目的:
- 开发一种可操作的假肘,可以复制自然的肘部旋转.
- 为了恢复上肢缺失的个体在行走时的手臂摆动.
主要方法:
- 制造和测试两种具有对比设计的假肢肘原型.
- 原型1使用直接驱动电机来追踪有能力的手臂摆动轨迹.
- 原型2的重点是将驱动和控制系统集成到标准的假肢外中.
主要成果:
- 原型1在跟踪手臂摆动时实现了<5%的位置误差,表明直驱电机适合自然的手臂摆动.
- 一个双摆动动态模型被发现高估了肘部扭矩要求.
- 原型2展示了成功的集成,但面临着变速箱摩擦的挑战;同步的肘部运动与自然的臂频率至关重要.
结论:
- 直接驱动电机可用于实现假肢肘部的自然手臂摆动.
- 未来的设计应该旨在将直接驱动系统的性能与集成原型的紧形状相结合.
- 优化控制系统和最大限度地减少组件摩擦是有效的假肢手臂摆动恢复的关键.
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