摘要
目的介绍国内外智能假肢膝关节研究的主要进展,为相关领域的研发提供可借鉴的思路。方法基于机械结构、调控方式、驱动方式,对典型假肢膝关节进行了分类比较,并从假肢穿戴者的运动意图识别、驱动控制、人机协调控制等方面做了分析。此外,对假肢膝关节在智能化研究与安全性、个性化与通用性、人机共融技术、科学伦理、关键技术等方面需要注意的问题,提出了研发要点和技术思路。结论智能假肢膝关节应注重安全性与稳定性,规避用户在使用过程中的潜在危险因素;实现假肢控制参数的自整定和灵活适配,在个性化与通用性上达到平衡;综合考虑人—机—环境因素,实现协调控制;坚持“以人为本”,在技术方法和科学伦理两个方面开展医工结合的研究;突破关键技术限制,建立完善的社会医疗康复保障服务体系。
The progress of research in the intelligent prosthesis knee joint is introduced in this paper.The thoughts are provided for the reference of research and development in this field.The typical structures,control mode and driving mode of prosthesis knee joint are compared.Moreover,the motion intention recognition of the prosthesis wearer,driving control and the human-machine coordinative control strategy of the knee joint are analyzed.Besides,some key points and thoughts are proposed for the further research of intelligent prosthesis knee joint in the aspects of safety,tri-co robot technology,personality and universality,science ethic,etc.The safety and stability of the intelligent prosthesis are emphasized to avoid the potential risk.The self-tuning and flexible adaptation of prosthetic control parameters is suggested to achieve the balance between personalization and universality.The factors of human-machine-environment are overall considered and the coordinated control is also pointed out as key points in research.Finally,some fundamental principles of“people-oriented”,combination of medical and engineering,consideration on both technical methods and scientific ethics,foundation of social physiotherapy services system,are also summarized.
作者
刘作军
许长寿
陈玲玲
张燕
LIU Zuo-jun;XU Chang-shou;CHEN Ling-ling;ZHANG Yan(Engineering Research Center of Intelligent Rehabilitation Device and Detecting Technology,Ministry of Education,Hebei University of Technology,Tianjin 300130,China)
出处
《包装工程》
CAS
北大核心
2021年第10期54-63,I0007,共11页
Packaging Engineering
基金
国家自然科学基金(61773151)
国家自然科学基金(61703135)。
关键词
智能假肢膝关节
运动意图识别
人机协调控制
intelligent prosthesis knee joint
motion intention recognition
human-machine coordinative control
