一种用于双边腿部数据的跨关节假肢的控制方法
概括
这项研究引入了一种新的控制架构,用于微控制下肢假肢. 通过使用来自两只四肢的数据,它增强了假肢的控制,并支持用户平衡的行走.
科学领域:
- 生物医学工程 生物医学工程
- 机器人技术 机器人技术 机器人技术
- 神经科学是一个神经科学.
背景情况:
- 微控制下肢假肢传统上依赖于截肢侧面的传感器.
- 平衡的步行需要协调神经控制两个四肢的正确的定位和方向.
- 现有的假肢控制系统可能无法完全捕捉用户的完整步态动态.
研究的目的:
- 开发和评估一个新的控制架构,用于跨关节假肢原型.
- 调查双边四肢数据的使用,以改善假肢控制.
- 通过全面了解步行状态,提高假肢设备的精度和适应性.
主要方法:
- 设计了一个控制架构,以整合来自完整和截肢四肢传感器的数据.
- 使用了两个惯性测量单位 (IMU):一个在左腿上,一个在右大腿上.
- 一个健康的受试者在平坦的地面上以各种速度进行了行走试验,并使用跨关节假肢原型执行了避开障碍的任务.
主要成果:
- 双边传感器数据提供了有关四肢定位和方向的全面信息.
- 控制器有效地管理了假肢的启动时间.
- 该系统展示了通过解释用户步行状态来协助精确的假肢控制的能力.
结论:
- 结合两只四肢的数据,可以显著提高下肢假肢的控制能力.
- 这种双边方法提供了对步态的更全面的理解,从而改善了假肢功能.
- 开发的控制架构显示了对更加直观和响应的假肢控制的承诺.
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