双边活动识别和持续适应,使用动力膝关节假肢.
Shihao Cheng1, Curt A Laubscher1, T Kevin Best1
1Department of Robotics, University of Michigan, Ann Arbor, MI, 48109 USA.
概括
这项研究简化了动力假肢的活动分类,使每日活动之间可靠的过渡,如坐,站,和走在各种倾斜. 这提高了腿骨转移截肢者的可用性.
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
- 康复工程 康复工程
背景情况:
- 动力假肢需要准确的活动分类,以便在现实世界中使用.
- 当前的系统往往涉及复杂的,高维的特征空间和过渡限制.
研究的目的:
- 为动力假肢开发一个简单的活动分类系统.
- 为了减少状态过渡的复杂性,以增强假肢腿的功能.
主要方法:
- 授权坐/站和可变倾斜步行到中级控制器,将分类减少到四个状态.
- 使用动力学特征,地面接触,倾斜和超声波传感器数据实现了启发式规则.
- 在两名腿骨移植截肢者身上使用动力膝关节假肢进行了测试.
主要成果:
- 在自我节奏和疲劳条件下达到99.2%的双边过渡精度.
- 证明了100%的恢复率与备份逻辑和用户引发的重置.
- 能够持续适应没有明确分类的斜坡.
结论:
- 简单的启发式过渡逻辑提高了动力假肢的可靠性.
- 该系统支持广泛的日常活动,提高了假肢的可行性.
- 户外多地形演示证实了现实世界的适用性.
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