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针对足下垂患者的康复训练,提出了一种将功能性电刺激(FES)与踝关节助力机构结合的方法。通过分析正常人体步态曲线,对力传感器检测步态的方法进行了研究,并搭建了下肢步态检测系统; 对功能性电刺激技术进行了研究,设计了功能性电刺激单元,完成了该单元的硬件设计; 通过分析足下垂患者的步态特点,提出了踝关节助力机构所需要完成的功能性目标,并完成了助力机构的研制; 根据已经搭建的平台,对传统的PID控制方法进行了研究,设计了下肢步态检测模块、功能性电刺激单元和踝关节助力机构的控制系统,完成了控制系统搭建。 相似文献
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根据外骨骼机器人的运动特点设计了液压驱动系统,利用功率键合图和传递函数建模法建立机器人处于支撑相前期运动的模型,用MATLAB软件对系统的压力和速度仿真,由仿真结果证明了所设计液压系统的合理性。 相似文献
85.
Understanding the mechanics of torque production about the ankle during accelerative gait is key to designing effective clinical and rehabilitation practices, along with developing functional robotics and wearable assistive technologies. We aimed to explore how torque and work about the ankle is produced as walking acceleration increases from 0 to 100% maximal acceleration. We hypothesized that as acceleration increased, greater work about the ankle would not be solely due to ramping up plantar flexor torque, and instead would be a product of adjustments to relative timing of ankle torque and angular displacement. Fifteen healthy participants performed walking without acceleration (constant speed), as well as low, moderate and maximal accelerations, while motion capture and ground reaction force data were recorded. We employed vector coding in a novel application to overcome limitations of previously employed evaluation methods. As walking acceleration increased, there was reduced negative work and increased positive work about the ankle. Furthermore, early stance dorsiflexion had reducing plantar flexor torque due to delayed plantar flexor torque onset as acceleration increased, while mid-stance ankle plantar flexor torque was substantially increased with minimal ankle dorsiflexion, irrespective of acceleration magnitude. Assistive devices need to account for these changes during accelerative walking to facilitate functional gait. 相似文献
86.
被动式外骨骼可以减少行走能量消耗且不耗费电能,在军事、民用领域具有广阔的应用前景。针对现有被动式外骨骼节省的能量较少且无法适应不同行走配置等问题,提出了多级能量锁原理,并根据此原理设计了一款被动式外骨骼机械足。首先,基于多级能量锁原理,建立人体行走时支撑相储能阶段和释能阶段的人机耦合ADAMS(automatic dynamic analysis of mechanical systems,机械系统动力学自动分析)动力学模型。然后,对被动式外骨骼机械足进行了优化:基于所建立的动力学模型分析了弹簧位置和弹簧释放角度这2个结构参数对机械足助力性能的影响规律,并结合足跟高度求得了这2个参数的最优解。最后,基于行走实验和有限元仿真分析,对被动式外骨骼机械足的强度、刚度、流畅性和舒适性等进行了优化,优化后机械足的质量约减轻500 g,安全系数达到了3.04,运行流畅性和舒适性显著提升。结果表明,释能阶段是被动式外骨骼机械足发挥作用的关键阶段;弹簧释放角度对释能阶段机械足助力性能的影响较为显著,即为影响机械足助力性能的关键参数。研究结果可为外骨骼设计提供重要参考。 相似文献
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Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic Muscle Actuator-Driven Exoskeleton 下载免费PDF全文
Pneumatic muscle actuators (PMAs) are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries, such as strokes, spinal cord injuries, etc., to accomplish rehabilitation tasks. However, because PMAs have nonlinearities, hysteresis, and uncertainties, etc., complex mechanisms are rarely involved in the study of PMA-driven robotic systems. In this paper, we use nonlinear model predictive control (NMPC) and an extension of the echo state network called an echo state Gaussian process (ESGP) to design a tracking controller for a PMA-driven lower limb exoskeleton. The dynamics of the system include the PMA actuation and mechanism of the leg orthoses; thus, the system is represented by two nonlinear uncertain subsystems. To facilitate the design of the controller, joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP. A gradient descent algorithm is employed to solve the optimization problem and generate the control signal. The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics. Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects. 相似文献
89.
针对老龄化社会对于康复和看护助力搬运的需要,提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计,可以给护理人员在提升重物和静态保持作业时输出腰部所需助力,降低下腰痛(Low back pain,LBP)致病风险.通过对重物搬运作业中穿戴者竖脊肌表面肌电信号(Surface electromyography,sEMG)评估、基于测力平台最大搬举重量测试、静态弯腰负重作业下人体重心(Center of gravity,COG)移动轨迹等相关实验,验证了助力有效性. 相似文献
90.