根据需要协助关节外骨控制,通过人类循环优化通过步行不对称性纠正
IEEE transactions on bio-medical engineering
|February 3, 2026
概括
这项研究引入了需要的辅助 (AAN) 部外骨架控制,以纠正中风幸存者的步态不对称. 新型的人在循环优化增强了积极的患者参与,以改善康复结果.
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
- 神经科学是一个神经科学.
背景情况:
- 步态不对称是中风幸存者常见的问题,影响了他们的移动性和生活质量.
- 现有的机器人辅助步行康复缺乏对纠正半性步行不对称的关注.
- 对于部分运动控制的患者来说,控制外骨在共享控制中提出了重大挑战.
研究的目的:
- 提出一个需要的辅助 (AAN) 关节外骨架控制系统.
- 为了优化控制,以纠正半步行中的步行不对称性,使用人类在循环中.
- 加强患者积极参与,最大限度地提高康复效率.
主要方法:
- 开发了一个实时步行表现和参与评估的客观功能.
- 基于特定主题的数据实现了控制参数的在线调整.
- 利用人体循环优化来控制外骨架.
- 进行了模拟半腿行走的实验研究.
主要成果:
- 拟议的AAN控制有效地刺激了对运动的更大主体贡献.
- 在线参数调整适应个体运动变化.
- 该系统证明了纠正步态不对称的可行性.
- 从生物力学角度来看,验证了AAN控制增强了人类积极参与的假设.
结论:
- AAN部外骨架控制是半性步行康复的可行方法.
- 人在循环中的优化显著改善了中风幸存者的积极参与.
- 这种方法为个性化和有效的步态康复提供了一个有希望的方向.
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