在不同的步行条件下,脚外骨架的适应性辅助策略
概括
这项研究引入了足外骨架的实时适应性辅助策略. 这种新的方法可以为各种行走条件提供个性化的辅助, 显著减少稳定和过渡步行的肌肉活动.
科学领域:
- 生物力学和机器人学
- 人与机器的互动
- 康复工程
背景情况:
- 个性化辅助是外骨在各种运动中的关键.
- 现有的方法通常需要对步态变化进行重新优化,从而限制了现实世界的应用.
研究的目的:
- 为脚外骨架开发和验证一种新的实时适应性辅助策略.
- 逐步定制辅助配置,以适应不同且不断变化的移动需求.
主要方法:
- 提出了一个实时的自适应策略,
- 使用实时脚动量估计,从预先优化的配置开始.
- 在单步 (高速) 和变步场景中与十名参与者验证.
主要成果:
- 与没有辅助相比,在高速行走时肌肉活动减少了35. 9%.
- 通过提高时间效率,实现了可比的人在循环中优化.
- 肌肉活动在改变步态时减少了28. 4%,在转变时减少了28. 1%.
结论:
- 这种步骤性适应性辅助策略对于个性化和定制是高效的.
- 成功适应多种,未知和不断变化的行走条件,包括过渡.
- 可以显著提高现实世界外骨的性能.
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