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为了准确识别下肢功能障碍患者辅助行走中的跌倒、拖拽式异常步态,从多种用户群体的普适性与便捷性出发,提出了一种基于节点迭代型模糊Petri网的非接触式异常步态识别方法。首先,论述了康复训练机器人结构及辅助行走过程中跌倒与拖拽式异常步态的行为特征;然后研发了一种多通道近距离传感器阵列实时检测步态信息,并融合了步行方向意图向量提出采用步态偏离度、频率和躯干倾斜角度作为检测系统输入参数;基于模糊隶属度函数生成网络点燃机制,并建立节点迭代型模糊Petri网系统识别异常步态;最后进行了异常步态算子推理与多模态行走跌倒检测实验,表明该算法对使用步行康复机器人过程中异常步态识别率达到91. 2%并提高了辅助行走的安全性与舒适性。所提方法可以应用于下肢行动不便人群使用类似助行器的日常起居与康复训练场景。 相似文献
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《现代制造技术与装备》2015,(5)
下肢残障者康复训练器具是一种具有双足步行特征的自动化器械,其目的是帮助使用者进行康复训练,从而实现其行走愿望。但是,目前大多数康复训练器具缺乏外观设计,给人一种冰冷的感觉。为改变这一现状,设计一款满足使用者需求的康复训练器具,首先,分析人体下肢行走机理;其次,讨论康复训练器具外观设计要素;最后,完成下肢残障者康复训练器具的外观设计。 相似文献
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对穿戴式下肢外骨骼助行器的研究,在设计和开发上提出新的思路。在设计中应注重低功耗,穿戴舒适轻便,高安全性等性能,将会给下肢神经受损患者带来更多的方便。穿戴式下肢外骨骼助行器作为康复辅具中新兴的移动辅具,具有广阔的市场前景,在下肢瘫痪和膝关节活动受限患者中起到了积极的辅助治疗作用。 相似文献
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残疾人助行器是辅助下肢功能障碍的残疾人行走的工具。由于在设计中缺乏对残疾人心理需求的研究,产品功能与形态设计不能很好地满足用户需求。基于语义差分法对残疾人助行器设计进行了研究,了解了目标人群的生理特征与心理需求模型,建立了感觉词语资料库,通过语义差异量表进行数据搜集,运用因子分析法进行数据统计分析,以分析结果为依据进行残疾人助行器造型设计,使产品更加符合残疾人的需求,设计方法与产品方案为弱势群体产品设计研究提供参考。 相似文献
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在辅助行走或步行康复训练过程中,助行机器人在紧密跟随人体步态的基础上,准确识别异常行为是人机交互的重要研究内容。为此,提出一种兼具通用性、鲁棒性与便捷性的非接触式多模态步行意图识别方法,能够准确识别多种步态并柔顺地控制机器人运行。首先,分析了步行辅助机器人和步行康复训练机器人的结构、功能与运动学模型,建立了内嵌式机载步态信息检测系统,从而准确描述步态变化规律;其次,为有效解决标志点丢失问题,提出了一种新型的扩展集员滤波算法来精确估计膝关节角度;最后,通过引入用户步态信息,建立了一种基于步态补偿的柔性控制方法并进行了实验研究。实验表明,提出的算法能够在有效克服标记点丢失的情况下,准确识别交互过程中的正常步态,并柔顺地控制机器人运动,同时对跌倒和拖拽步态进行有效识别,识别率分别达到91.3%和89.3%。该非接触式步态意图识别方法可以应用于具有类似结构的助行器及其日常助行与康复训练场景。 相似文献
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常镭民 《机械工程与自动化》2018,(2)
根据正常成年人体的第五十百分位数据,建立人体腿部的三维模型,并对模型进行动力学分析,通过分析得出模型关节力-位置参数,并以此参数作为输入数据,在软件MATLAB的Simulink模块中进行仿真,得出助行器各关节角度曲线。结果表明:助行器各关节角度仿真曲线与正常人行走时各关节的角度曲线大致重合。 相似文献
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仿人双足机器人的动步行需要考虑机器人的动力学特性,规划起来较为复杂。为了减少生成机器人步行样本时的计算量,本文提出了基于步行样本单元组合的运动样本生成方法。通过对步行运动进行分析,得到构成步行运动的基本单元;通过样本组合方法生成了含有后退步行的步行运动样本,仿真平均步速达到1.607 km/h。 相似文献
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为解决机器人复杂崎岖地形难以行进的问题,设计了步履式全地形六足机器人。系统以STM32F407ZGT6单片机为控制核心,通过EPM1270T144I5舵机和直流减速电机驱动板,控制DS3120MG型舵机带动机器人的运动关节以及控制5GA370型直流减速电机驱动履带小车;同时引入H083-0605TC型导电滑环与挂胶履带,实现履带小车360°回转无死角,进而可以在各种复杂地形下灵活运动。步履式全地形六足机器人具有优越的越野能力,可轻易翻越障碍物,且抗干扰能力强,灵活度高,安全可靠,具有较高的实用价值。 相似文献
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悬臂取料机轨道在运行中,发现轨道下面的调整垫片有被挤出的现象。基于提高取料机行走轨道的安装精度和使用寿命,设计了一种新型的行走轨道固定装置,不会使得固定支座轻易地移位,同时提高了固定支座的安装精度和使用寿命。 相似文献
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Satoru Okamoto 《机械工程与自动化:英文版》2014,(9):699-708
Walkers improve self-reliability. We examined the effectiveness of a newly developed wheeled walking frame for use by physically handicapped persons. Unstable gaits in walker users were analyzed by tri-axial accelerometers and a motion capture system. Several markers were placed on subjects' backs and legs. Subjects were requested to walk around a test course at a comfortable speed, while their motion was recorded by two high-speed video cameras. The activities performed on the test course comprised standing, normal walking, fast walking, and walking over a barrier. Any accidental falls were also recorded. We established the characteristic rules of gait motion using a walker. Furthermore, we demonstrated that gait characteristics are more conveniently extracted from acceleration sensors than from motion capture systems, since the sensors can be affixed to subjects for self-monitoring and goal achievements. The methods employing acceleration sensors are considered suitable for determining the average gait motions of elderly persons living in nursing homes, and can be used to evaluate walking motion before and aider rehabilitation. 相似文献
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V.S. Gurfinkel E.V. Gurfinkel A.Yu. Shneider E.A. Devjanin A.V. Lensky L.G. Shtilman 《Mechanism and Machine Theory》1981,16(1):31-36
A design of a six-legged walking robot with supervisory control is presented. A hierarchical control system of the robot incorporates a hybrid computer.In recent years the problem of developing a robot, moving on legs in a rough terrain, has been extensively investigated [1–10]. The legged, off-road vehicles exhibit mobility advantages and provide more comfortable movement than that of tracked or wheeled vehicles. Now, some scientific as well as technical problems requiring the application of such vehicles may be mentioned.However, the advantages of a walking robot over other types of moving vehicles result from its greater complexity. A large number of controllable degrees of freedom requires highly efficient drives properly arranged, special design of feet to dissipate the energy of the strike, etc. It is a rather difficult task to design a control system for a legged vehicle having all of its advantages. The control system has to process the information about the terrain, to decide on the type of the motion and to execute it. Thus the problem of the control seems to be the main problem of the walking robot. It should be mentioned, that the experience in designing most complex systems of the automatic control cannot be directly applied to the problem of a walking robot control. As a matter of fact, the problem of spatial movement control in such a complicated form is being solved for a first time.The results of numerous biomechanical studies may be helpful in solving the arising problems. The principles of motor control in animals and man have been studied by several authors.The control system of the described robot is based on the idea of the synergy of the regular gait, which constitutes the main pattern of the motion. When necessary, that motion is modified to adapt the gait to an uneven surface or to perform different manoeuvres to avoid or to overcome obstacles. It is called a quasi-regular gait.This report presents the results of the joint work carried out by two research groups: the Institute for Problems of Information Transmission, Academy of Sciences U.S.S.R. and the Institute for Mechanics of the Moscow State University. 相似文献
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设计了一款小型化专用韭菜收割机。整机采用智能传感器与单片机进行信号传感及控制,对车身沿垄自行走、割茬高度自调节和边拢边割等功能实现进行了研究。运行结果表明,样机可实现0.41亩/小时的收割速度,有效提高劳动效率。 相似文献