有感觉反的机器人腿假肢的极端寻找控制
1School of Information and Control Engineering, Southwest University of Science and Technology, Mianyang 621000, China.
Sensors (Basel, Switzerland)
|August 28, 2025
概括
这项研究引入了一种使用非侵入性功能电刺激 (nFES) 的新方法,以帮助截肢者感知地面接触力,使假肢能够实时适应不同地形.
科学领域:
- 生物力学和机器人学
- 神经假肢
- 控制系统工程
背景情况:
- 人类的运动依赖于感知脚与地面的接触力,以适应步行速度和脚的硬.
- 截肢者缺乏这种自然的感官反, 阻碍假肢适应不同地形.
研究的目的:
- 开发一种非侵入性的功能电刺激 (nFES) 系统,以提供用于假肢控制的感觉反.
- 让截肢者能够实时调整假肢的参数以适应不同的行走地形.
主要方法:
- 使用非侵入性功能电刺激 (nFES) 传递脚与地面接触力信息.
- 实施极端寻找控制 (ESC) 策略以优化假肢控制参数.
- 设计了一个成本函数,集成联合跟踪错误和刺激电流变化.
主要成果:
- 证明了拟议的控制器的稳定性,包括极端寻找动态.
- 实验结果证实ESC方法有效地根据实时反调整了假肢参数.
- 这种系统可以在不同的行走地形上对假肢进行自适应控制.
结论:
- 开发的nFES系统和ESC战略为增强假肢功能提供了有前途的方法.
- 这种方法可以自然调节假肢的行为,模仿人类的运动.
- 改善感官反和自适应控制可以显著地帮助截肢者在不同的环境中进行导航.
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