生物腿的持续的意志控制支持各种走路模式,无论是在激进分子-对抗分子肌肉界面和骨的假肢用户
Federica Damonte1,2, Lucas Avanci Gaudio1,2, Jose Gonzalez-Vargas2
1Department of Biomechanical Engineering, University of Twente, Enschede 7522 LW, The Netherlands.
PNAS nexus
|February 2, 2026
概括
这项研究引入了一种用于生物腿部控制的新型人机接口,使得具有激动-对抗肌肉接口和骨假肢的用户能够在各种条件下实现连续的意志运动.
科学领域:
- 生物医学工程 生物医学工程
- 康复机器人 康复机器人
- 神经修复品是一种神经修复品.
背景情况:
- 肌电控制为生物肢体的意志控制提供了潜力.
- 之前的研究表明,在膝下截肢患者中,肌肉界面 (AMI) 具有agonist-antagonist的肌肉界面 (AMI) 具有更好的控制.
- 对于使用骨假肢 (BAP) 的非AMI用户的控制仍然不太了解.
研究的目的:
- 提出一个人机界面 (HMI),用于对生物腿进行自愿的,连续的肌电控制.
- 在不同的行走条件下测试AMI和BAP用户的HMI.
- 通过神经机械模型和数字双胞胎来评估HMI的有效性.
主要方法:
- 基于神经机械模型和完整腿部的数字双胞胎开发了一个HMI.
- 测量了残余肢体的肌肉激活,以合成幻肢功能.
- 实施了实时框架,用于在地面行走,小腿提升和坡道上升期间控制假肢.
主要成果:
- 参与者实现了假肢峰值脚部-背部屈曲扭矩 (定时和振幅) 的自愿调节.
- 这三名受试者都学会了调整肌肉激活模式,87%的峰值激活处于目标范围内.
- 在各种步行速度 (1.6-3.96公里/小时) 和斜坡 (3-5%) 中成功控制.
结论:
- 拟议的神经机械建模技术可以为活跃假肢提供通用化的HMI.
- 这种方法使得超越特定用户类型或移动条件的自愿控制更容易.
- 为先进的假肢控制系统开辟了新的途径.
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