为TWIN下肢外骨架设计,开发和验证一个不可逆转的活跃脚脚
Raffaele Giannattasio1,2, Nicolò Boccardo1,3, Riccardo Vaccaro1
1Rehab Technologies Lab, Italian Institute of Technology, Genoa, Italy.
Frontiers in robotics and AI
|September 3, 2025
概括
这项研究开发了一种用于下肢外骨架的活跃脚骨架 (AAFO). 对于临床使用,AAFO提供了精确的控制和支持,减少了脚的空隙和功耗.
科学领域:
- 机器人技术
- 生物力学
- 康复工程
背景情况:
- 下肢外骨需要先进的整形器件来有效地帮助步行.
- 现有的解决方案经常面临距离质量,功耗和精确控制的挑战.
研究的目的:
- 开发一个活跃的脚脚 (AAFO) 无集成到下肢外骨架.
- 设计一个支持病态步行条件的AAFO,
- 优化脚运动控制以改善行走性能和用户体验.
主要方法:
- 人类脚运动分析以告知AAFO设计.
- 电动机与不可逆转变速系统的集成.
- 对外骨整合和性能验证进行最佳轨迹规划.
- 与健康参与者进行实践行走试.
主要成果:
- 在行走过程中,AAFO有效地减少了脚清除.
- 实现了稳定的控制和低功耗.
- 与TWIN下肢外骨架的成功整合得到证实.
- 在健康用户的实际应用条件下表现良好.
结论:
- 开发的AAFO适用于临床应用,提供有效的步行支持.
- 它的设计解决了下肢外骨架技术的关键问题.
- 该系统有望提高步行障碍患者的流动性.
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