后背支的下肢外骨架:设计实施和辅助性能实验验证
Le Su1, Jian Lv1, Weijie Pan1
1Key Laboratory of Advanced Manufacturing Technology of the Ministry of Education, Guizhou University, Guizhou, China.
Annals of the New York Academy of Sciences
|February 6, 2026
概括
这项研究引入了一种新的后背支的外骨架,可以减少肌肉的劳动力,并改善健康成年人的步态对称性. 这种创新的设计显示出对辅助行走和康复应用的前景.
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
- 生物力学 生物力学
背景情况:
- 传统的下肢外骨架通常使用侧面支,导致质量中心变化和步态不对称.
- 这些局限性阻碍了外骨在康复和辅助行走中的实际应用.
研究的目的:
- 为了验证一个新的后背支的下肢外骨架,采用三层扭矩阻抗控制策略.
- 评估外骨对健康成年人的肌肉激活和步态对称性的影响.
主要方法:
- 设计和实施一个背后支的下肢外骨架.
- 评估外骨在平行和8.5°倾斜时的表现.
- 同步收集六名健康参与者的表面电肌图和动力学数据.
主要成果:
- 直骨肌的激活 (根的平方平均值) 在平面上下降了20.62%,在斜坡上下降了36.38%.
- 步态对称指数在平面上提高了8.82%,在斜坡上提高了14.37%.
- 显示肌肉需求减少和双边步态对称度增强.
结论:
- 后背支的外骨设计与层次控制相结合,有效地减少了肌肉的努力.
- 该系统显著改善了步行对称性,表明其对行走辅助设备的潜力.
- 这种方法为未来的下肢外骨在康复中发展提供了一个有希望的设计范式.
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