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在运动过程中,ABLE 7轴外骨架对上肢动力学的影响

Julia Peladeau¹, Philippe Garrec², Sébastien Laporte³

¹Arts et Métiers Institute of Technology, EPF Engineering School, Université Sorbonne Paris Nord, IBHGC-Institut de Biomécanique Humaine Georges Charpak, 151 boulevard de l'Hôpital, Paris 75013, France; Université Paris-Saclay, CEA, List, Palaiseau F-91120, France.

Journal of biomechanics

|September 18, 2025

概括

在康复练习期间,ABLE 7轴外骨架显著降低了上肢运动范围和速度. 这影响了自然运动,特别是肩膀旋转,突出了需要仔细设计外骨的需要.

科学领域:

康复机器人康复机器人
生物力学生物力学
人与机器的互动人与机器的互动

背景情况:

在康复中,外骨的整合需要了解外骨对上肢自然运动的影响.
量化动力学变化对于有效的治疗和设备开发至关重要.

研究的目的:

量化ABLE 7轴外骨在上肢运动期间引起的动力学变化.
评估对运动范围 (ROM),运动速度和流性的影响.

主要方法:

15名健康受试者进行单关节和多关节运动.
测试了三个条件:没有外骨 (WE),人类活跃模式 (HA) 和人类被动模式 (HP).
光电子运动捕捉分析了运动模式,ROM,速度和平滑性.

主要成果:

外骨使用减少了10-76%的ROM (肩膀内部/外部旋转受影响最大的76%).
与WE相比,HA模式中的速度下降了29-80%.
多关节运动受到的影响比单关节运动少;所有运动都增加了抽.

结论:

ABLE 7轴外骨架显著改变了上肢动力学,特别是肩膀运动.
这些发现对设计康复方案和改进外骨技术有影响.
需要进一步的研究来优化外骨架辅助康复.

关键词:

外骨架 (exoskeleton) 是一个外骨架.运动动力学是运动的动力学.上部四肢的上部四肢是什么

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