全接触小腿假肢接受腔的智能制造方案研究

针对现有假肢接受腔大多依赖于人工手法取型的现状,提出了利用受力仿真软件生成接受腔模型并通过增材制造技术直接制造接受腔的智能制造方案。为避免残肢界面应力集中导致皮肤破损,设计了一种仿真取型法,通过对残肢压力耐受部位加压修型,得到残肢接受腔之间均匀受力的全接触小腿假肢接受腔,并通过仿真试验验证了该方法的可行性。     

界面压力可控式假肢接受腔设计

功能性假肢接受腔需要同时具备穿戴舒适性与力及运动的传递功能,两者对人机界面提出刚柔特性相反的要求,对接受腔的设计形成了矛盾。针对这一矛盾,提出分时间歇和分区交替承载的界面压力可控式假肢接受腔设计概念,以最大化其功能传递性,并且避免残肢软组织长时间承受过高载荷。设计一种负刚度挤压腔体单元,通过抽真空方式驱动腔体单元收缩改变接受腔内壁形状,实现接受腔对残肢软组织适配界面的刚柔特性协调及快速转换。理论分析负刚度挤压腔体单元的力学特性,该特性使其对软组织松紧挤压转换所需的驱动力小,有利于小型化驱动单元,同时也使接受腔对软组织具有过载保护的功能。以该单元为基础构建假肢接受腔试验模型,并对其界面压力响应特性进行试验评价,初步实现了对接受腔界面压力的控制,并证明了该设计方案可以同时提高接受腔的功能传递性和舒适安全性。     

3D打印个性化大腿假肢接受腔形性协同制造策略

假肢接受腔作为连接残肢与假肢系统之间的关键界面,是假肢系统发挥其功能的重要基础.为满足假肢接受腔个性化、快速、低成本的制造需求,本研究提出利用材料挤出成型技术(Material extrusion,MEX)制备大腿假肢接受腔的方法与策略.首先通过对残肢-接受腔系统的生物力学分析提出了接受腔材料的力学性能需求.然后,系统...     

假肢材料与人体下肢皮肤界面的摩擦特性

采用UMT-II多功能摩擦磨损试验机,在往复摩擦模式下模拟假肢接收腔/残肢皮肤界面,研究了4种不同表面结构的硅胶内衬套材料与皮肤的摩擦学行为。结果表明:硅胶材料/皮肤界面、接收腔/硅胶材料界面在往复摩擦模式初期均会产生相对滑动,摩擦因数较大;随着界面间产生黏着,摩擦因数减小,逐渐趋于稳态。硅胶材料反面上的粗大微凸体,增加了与皮肤的粘结性,摩擦能耗减少;正面上的针织结构不但增加了往复摩擦过程中与接受腔之间的相对滑动量及摩擦能耗,而且减少了其反面与皮肤往复摩擦过程中皮肤协调位移时的变形,从而降低了与皮肤之间的摩擦因数和能量损耗,因此,有利于降低皮肤摩擦损伤的风险,提高残肢患者穿戴舒适性。     

3D打印连续纤维复合假肢接受腔Z向强化制造策略

假肢是截肢者恢复行动能力所必须的康复辅具,假肢接受腔作为连接残肢与假肢系统之间重要的生机界面,具有包容残肢、支撑体重、传递运动载荷的重要作用。与传统工艺制备的假肢接受腔相比,MEX(Material Extrusion,材料挤出成形)3D打印接受腔具有加工周期短,成本低等优势,能够满足接受腔快速低成本制造的需求,但该工艺制备的接受腔以Z向力学性能较差为突出劣势,应用也因此受到限制。之前的研究针对该问题提出了一系列的策略对MEX打印工艺的Z向力学性能进行提升,但受到材料与工艺限制,优化后的打印策略制备接受腔的Z向力学性能依然不足。为解决该问题,本研究首先基于假肢接受腔的打印需求,自主研发了可控制挤出头姿态变换的多自由度MEX打印设备。随后,本研究系统地研究了多自由度打印工况下纤维方向和打印层厚对芳纶纤维增强复合材料打印件Z向力学性能的影响。最后,本研究根据多步态下假肢接受腔的力学分析结果,将纤维方向和接受腔厚度等参数和接受腔受力状态进行关联,提出了接受腔Z向强化打印策略。结果表明,与传统3D打印工艺相比,Z向强化制造策略可显著提升接受腔的力学性能,所制备的假肢接受腔可满足穿戴疲劳要求。     

反求工程技术产业化可行性和可靠性的分析

本文简要阐述了反求工程技术的内容。通过对同内外市场分析，得出反求工程技术产业化可行性和可靠性的分析。     

结构区间参数反求的DIRECT算法

提出一种基于DIRECT算法的结构区间参数反求方法。对于结构不确定性参数反求问题,一般转化为不确定性传播和模型参数优化的双层求解问题。首先,区间模型用来描述响应和待识别结构参数的不确定性,并建立了相应区间参数反求模型。其次,在迭代反求过程中自适应更新径向基函数用来近似原系统模型,并利用DIRECT算法来求解内层不确定性传播问题。最后,通过遗传算法来求解外层的优化模型,从而识别结构不确定性参数的区间。数值算例用来验证了该方法的正确性和有效性,并将该方法应用来反求车辆乘员约束系统中的不确定性参数。     

数码相机在凸轮反求设计中的应用

以数码相机为图像采集系统,应用Matlab和AutoCAD软件,提出了一种用计算机辅助实现平面零件实体模型反求的方法,以盘形凸轮为例,阐述了反求过程的思路和技巧,反求模型准确、快捷、简便易行。     

运用Pro/E的反求工程模型重构研究

提出运用Pro/E自带的反求设计模块Pro/SCAN-TOOLS对反求实物进行模型重构,并用实例说明其全过程,从而为反求设计模型重构提供了一种采用通用的大型CAD软件Pro/E的切实可行的方法。     

基于近似模型的拉延筋几何参数反求

引入响应面方法和遗传算法建立基于近似模型的拉延筋几何参数反求方法。首先以等效拉延阻力为设计变量，通过均匀拉丁方试验设计方法提取适当的设计参数样本构造响应面近似模型，并不断优化响应面模型，获取最优等效拉延阻力；然后以最优等效拉延阻力为约束条件，结合等效拉延阻力计算和小种群遗传算法反求拉延筋几何参数。整个反求过程采用等效拉延筋有限元模型进行仿真计算，避免有限元模型的网格重划分及由真实拉延筋模型引入的计算效率问题。数值算例表明，基于近似模型的拉延筋几何参数反求方法可在设计兴趣域内快速寻优，有助于加快模具设计进程，降低生产成本。     

FEATURE EXTRACTION OF BONES AND SKIN BASED ON ULTRASONIC SCANNING

In the prosthetic socket design,aimed at the high cost and radiation deficiency caused by CT scanning which is a routine technique to obtain the cross-sectional image of the residual limb,a new ultrasonic scanning method is developed to acquire the bones and skin contours of the residual limb.Using a pig fore-leg as the scanning object,an overlapping algorithm is designed to reconstruct the 2D cross-sectional image,the contours of the bone and skin are extracted using edge detection algorithm and the 3D model of the pig fore-leg is reconstructed by using reverse engineering technology.The results of checking the accuracy of the image by scanning a cylinder work pieces show that the extracted contours of the cylinder are quite close to the standard circumference.So it is feasible to get the contours of bones and skin by ultrasonic scanning.The ultrasonic scanning system featuring no radiation and low cost is a kind of new means of cross section scanning for medical images.     

Tribological behavior of scar skin and prosthetic skin in vivo

The interfacial rub phenomena between scar skin and other external surfaces are a prevalent problem in everyday life. Literature on the tribological behavior of scar skin is scarce to date. In this study, the tribological behavior and comfort sensations of residual limb scar skin, prosthetic wearing skin and healthy limb skin were investigated in vivo by using UMT-II multi-specimen Micro-Tribometer under the simulated rubbing conditions between the residual limb skin and prosthetic socket. The results showed that the tribological behavior and comfort sensations differ remarkably among the three kinds of skin. Due to the changes of skin histological structure and surface roughness, higher the friction coefficient with higher fluctuation has been obtained for the scar skin during testing. The friction coefficients of the prosthetic wearing skin are close to those of the healthy skin, but have a slight fluctuation compared to those of the healthy skin. The scar and healthy skins are sensitive to the comfortless sensations induced by rubbing. The prosthetic wearing skin is tolerant to the comfortless sensations.     

碳纤维复合材料假脚冲击与压缩强度试验*

碳纤维复合材料已成功应用于假肢领域产品的开发,然而其对冲击载荷比较敏感,受冲击后其强度将会大幅下降。针对一种新型碳纤维复合材料假脚,开展自由落体冲击试验及冲击后压缩强度试验,分析不同铺层参数、不同冲击吸收能量等因素对其冲击损伤及剩余强度的影响规律。结果表明,对于碳纤维复合材料假脚的U形结构件,不同铺层参数对其冲击损伤影响显著,且随着0°铺层含量的增加,试件的冲击损伤面积越来越小,外观损伤越来越轻;随着冲击吸收能量的增加,碳纤维结构件的冲击损伤面积明显增大,剩余压缩强度逐渐降低。对于碳纤维复合材料假脚结构件,在0~16 J的低能冲击范围内,冲击吸收能量与其剩余压缩强度近似呈线性关系。随着0°铺层含量的增加,碳纤维复合材料结构件的剩余压缩强度逐渐提高。     

智能假肢膝关节的优化设计及运动学分析

智能假肢膝关节是一种代偿下肢缺失功能的机械电子装置,可以采用双摇杆机构实现对假肢膝关节运动特性的模拟。针对假肢膝关节行走过程中能量消耗过大、稳定性较差的问题,以假肢膝关节机构峰值驱动力矩最小为优化目标,建立了优化模型;在满足性能与结构的约束条件下,运用复合形法对该模型进行优化求解,得到了假肢膝关节机构的最佳结构参数;在此基础上,利用ADAMS软件进行了虚拟运动仿真。结果表明:优化后的智能假肢膝关节具有优良的仿生性能,其峰值驱动力矩相比优化前降低了40%,驱动力矩变化范围缩小36%,大大地提升了智能假肢膝关节的稳定性与续航能力。     

基于逆向工程的医学器官有限元建模方法

为了提高医学器官有限元模型的建模速度和精度,采用逆向工程的思想方法,利用Medical image processing platform(MIPP)软件自动建立了人头部的有限元分析模型。用户可以通过MIPP进行二维图片的重构和三维显示, 然后应用ANSYS参数化设计语言导出一个有限元分析模型。结果表明新的建模方法比传统的建模方法速度更快, 精度更高,为生物力学分析和医学假肢制造提供了一个更加有效和实用的方法。     

A design approach for myoelectric arm with hand and wrist motions using single actuator

This paper relates to the development of prosthetic myoelectric hand that performs many functions of real human hand like opening and closing of fingers and wrist rotation. This dual movement of prosthetic hand is controlled by a single DC motor. Below-elbow amputee persons with missing limbs can append this prosthetic hand with the available stump and can do some of the hand operations with multiple degrees of freedom by voluntary activation of muscles using electromyogram (EMG) electrodes. To rehabilitate such a person, facilities like opening, closing, grasping, and lifting objects of different weight with variable grip force are available like natural hand. The main design consideration includes degrees of freedom, number of actuators, power of actuators, reliability, electronic control, light weight, economic viability, wrist rotation, variable grip force pattern, and ease of attachment with limb. Use of electromagnetic clutches along with the coupling logic of DC motor and microcontroller based on grip force generation and wrist rotation based on EMG signals imparts a new function to the device. It will be useful for both robotic and prosthetic industry.     

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.     

基于软件体系结构的秦氏模型智能虚拟控件集成框架的研究

秦氏模型智能虚拟控件是对非智能虚拟控件经过功能赋予后形成的智能测试仪器单元,通过积木式拼搭,可形成各种类型虚拟测试仪器。对三种不同的软件体系结构类型进行比较,阐述了它们对智能虚拟控件复用与集成的影响;提出了支持插头插座式体系结构类型的智能虚拟控件层次结构以及基于体系结构的智能虚拟控件集成框架;给出了一个拼搭式虚拟仪器实例。     

双摇杆假肢膝关节的运动学与动力学分析

膝关节是人体正常运动的重要部位.为了满足下肢截肢患者恢复正常运动功能的需求,设计了一款双摇杆机构的假肢膝关节.首先,建立了下假肢的简化模型,通过对模型的运动学分析,获得了相关关节角度、角速度、角加速度等参数.通过动态静力分析法对双摇杆的各个杆件进行动力学分析,最终得到输出阻尼力与驱动力矩之间的平衡方程.通过Adams仿...     

基于曲率滤波和反向P-M电动车充电孔检测方法

为了解决电动车人工充电作业的效率低下、场合限制、漏电隐患等难题,研究了基于曲率滤波和反向P-M扩散的电动车充电孔检测与定位方法,该方法能够从充电座图像中精确高效地提取目标物充电孔的特征,实现机器人的自动化充电。针对图像信号受强电磁干扰,采用了具有噪点识别能力和边缘保持特性的曲率滤波法进行图像除噪;由于充电座图像背景复杂、亮度不均以及干扰项多,导致常规分割方法失效,故研究了反向P-M扩散和BP神经网络(BPNN)相结合的分割方法。预处理图像经反向P-M扩散、差分运算、滤波及空洞填充得到P-M精确分割的连通域,再利用形态学击中算法,在P-M连通域中搜寻由BPNN粗略提取的连通域,从而得到精确的充电孔目标区域。最后,对所提出的方法进行验证测试,实验结果表明该方法能有效识别充电孔,并且检测速度、定位精度很好地满足充电机器人作业要求。