基于双平行冲洗算法的新型中风康复机器人的运动控制研究
Junjie Yao1,2, Zhongxu Li2, Cuiping Wang2
1College of Acupuncture and Tuina, Changchun University of Chinese Medicine, Changchun, Jilin, China.
Frontiers in bioengineering and biotechnology
|January 21, 2026
概括
这项研究引入了针对康复机器人的优化运动控制策略,以改善中风患者的平衡. 通过最大限度地减少运动感知错误,机器人提供了更现实的训练体验,以增强恢复.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 康复科学 康复科学 康复科学
背景情况:
- 与中风相关的平衡障碍显著影响患者的流动性和生活质量.
- 现有的康复机器人往往难以提供现实的和有效的运动反.
- 串行并行混合机器人中的人形步行功能为高级康复提供了潜在的潜力.
研究的目的:
- 为康复机器人开发先进的运动控制策略.
- 为了尽量减少中风幸存者的机器人辅助步行训练中的运动感知错误.
- 通过优化机器人运动轨迹来提高康复的现实性和有效性.
主要方法:
- 使用多源异质运动信息融合实施运动控制策略.
- 采用运动解并行冲洗算法 (WA),通过多目标遗传算法 (MOGA) 优化过器参数.
- 使用定制的多源异质传感系统来捕捉人类步行特征并生成机器人轨迹.
主要成果:
- 优化WA波器参数以尽量减少理论运动感知错误.
- 引入运动脱和双平行过,以实现独立通道优化和准确的运动再现.
- 开发特定的运动轨迹,与人类感知值和设备动态保持一致.
结论:
- 拟议的策略有效地减少了机器人辅助运动训练中的运动感知错误.
- 优化的机器人运动轨迹可以带来更现实的用户体验.
- 这种方法有可能改善中风患者平衡障碍的训练结果和增强康复.
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