设计,建模和测试 - 一个适用于膝关节关节尺寸的紧型可变刚度执行器
Guoning Si1, Zilong Guo1, Zhuo Zhang2
1School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.
Micromachines
|December 31, 2025
概括
这项研究为膝关节外骨架引入了一种新的紧型变硬机制. 它通过调整度以获得更安全,更精确的步行辅助来改善中风康复.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 康复工程 康复工程 康复工程
背景情况:
- 脑卒中康复外骨需要适应性关节刚性.
- 目前的设计难以复制步行过程中的生理硬度调节.
研究的目的:
- 为膝关节外骨架呈现一种新的紧型变硬机制 (VSM).
- 为了实现可适应的性,以改善半性步行辅助.
主要方法:
- 基于简化三条链接的VSM设计.
- 在负载下进行静态表征,以评估刚性和力减弱.
- 参数分析以关联理论和实验度概况.
主要成果:
- 实现了0.15-2.0NM/deg的预配置准刚度范围.
- 通过被动消散,证明碰撞力减弱高达23.0N.
- 显示了理论和实验度概况之间89%的相关性.
结论:
- VSM提供了冲击安全和位置精度的脱优化.
- 提供了一种临床上适应性解决方案,用于半性步行辅助.
- 允许适应性度调节,这对于有效的外骨架式中风康复至关重要.
相关概念视频
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