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通过自适应协作机器人技术缓解假肢使用者的补偿运动.

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    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
    • 人与计算机的交互

    背景情况:

    • 假肢设备可以恢复部分肢体功能,但很少恢复完全的运动能力,导致补偿运动,不适和身体疲劳.
    • 现有的解决方案往往无法完全解决残余肢体能力和任务需求之间的复杂相互作用.

    研究的目的:

    • 开发一种新的人机协作框架,以减轻假肢使用者的补偿运动.
    • 通过利用剩余运动和尊重任务要求来提高功能移动性和舒适性.

    主要方法:

    • 创建了一个个性化的移动模型,以量化关节限制和补偿运动的成本.
    • 一个受约束的优化框架计算了最佳用户姿势,指导一个协作机器人重新配置任务环境.
    • 该框架使用一种用于单指截肢的新型身体驱动假肢设备进行了验证.

    主要成果:

    • 一个由用户特定的移动模型告知的机器人助理在交付任务中表现优于人类合作伙伴.
    • 假肢使用者掌握效率得到改善,功能关节的补偿运动减少.
    • 用戴假肢的健康受试者进行的实验证明了框架的有效性.

    结论:

    • 拟议的人机协作框架有效地减少了假肢使用者的补偿运动.
    • 协作机器人可以在工作场所和护理环境中充当有效的助手,促进包容.
    • 这种方法增强了假肢设备在日常活动中的整合,提高了用户的生活质量.