膝关节外骨架与侧部和前后部附着部的人类界面动力学
概括
一个新的下体外骨架接口设计显著提高了85.7%的刚性,提高了用户的扭矩辅助. 这种重新设计优化了辅助设备的功率交付和舒适性.
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:
- 辅助下肢外骨架可以提高不同人群的生活质量.
- 可逆向驱动的执行器减少了联合努力,但在软组织接口方面面临着挑战.
- 接口上的共振器动力学可以阻碍扭矩辅助和控制器稳定性.
研究的目的:
- 为了研究和改进辅助下肢外骨架的机械接口刚度.
- 为了解决低效的功率传输和因接口刚度低而引起的不适.
- 为了提高性能,重新设计开源M-BLUE外骨架的界面.
主要方法:
- 开发并实施了一种新的正常装载接口设计,使用前后和皮带.
- 将新设计的接口动态与原来的侧面带接口进行了比较.
- 利用近静态弹测量和频率响应方法,对10名人类实验对象进行了测量.
主要成果:
- 新的正常加载接口与侧面接口相比,其刚度增加了85.7%.
- 在各种腿部姿势和曲和延伸负荷中观察到更好的性.
- 重新设计为更高效的电力供应和更好的用户舒适性提供了潜力.
结论:
- 外骨架接口的机械重新设计可以显著提高刚性.
- 正常加载接口为改善辅助外骨性能提供了一个有希望的替代方案.
- 进一步的研究可以探索这种更硬的界面对整体用户体验和控制的影响.
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