一个基于协同作用的下肢外骨架,体现了人类自然的运动智能
Bo Huang1, Hanwen Zhang1, Bai-Yang Sun2
1Huazhong University of Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, CHINA.
Bioinspiration & biomimetics
|January 16, 2026
概括
这项研究引入了下肢外骨的新设计,模仿人类自然运动的运动智能. 开发的外骨有效地协助用户完成各种运动任务,增强机动性和康复潜力.
科学领域:
- 可穿戴式机器人技术
- 生物力学 生物力学
- 人与机器人的交互
背景情况:
- 在可穿戴机器人领域,设计具有类似人类自然运动运动能力的外骨是一个重大挑战.
- 在外骨架中复制复杂的运动智能以获得敏捷的人类技能仍然很困难.
研究的目的:
- 为下肢外骨架提出一种新的设计原则,以传递人类的运动智能.
- 通过复制人类运动协同作用,使外骨能够实现自然的运动能力.
主要方法:
- 在自然运动过程中捕捉到人类下肢关节之间的协同作用特征.
- 确定了基本的运动原体作为动力学协同作用.
- 建立了外骨的机械设计原则,以复制这些协同作用,并将它们用于紧性和轻量级设计.
主要成果:
- 一个原型外骨验证了拟议的设计原则.
- 外骨成功地协助用户完成各种运动机动任务.
- 辅助运动表现出人类自然运动的固有特征.
结论:
- 拟议的设计原则使下肢外骨能够实现自然运动.
- 这种进步具有日常移动辅助,中风后康复和工业应用的潜力.
- 转移人类运动智能是开发先进可穿戴机器人系统的关键.
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