CAJ | 학술논문

背景:下肢运动是一种复杂的运动,采用合适的传感器获取人体运动生理信息,成为智能假肢控制的前提.国际上现有的下肢假肢控制信息源为与运动信息有关的物理量,这类信息可以直接反映人体运动的生物力学特性,采集比较简单,非常适合实时控制.现有智能下肢假肢产品根据采用的控制方法不同选择一种或几种传感器测量人体运动信息.目的:研究一种能够采集智能下肢假肢控制所需人体运动信息的传感器系统.方法:对智能下肢假肢带固定式气缸阻尼器的四连杆机械机构进行运动分析,得出四连杆后臂下轴电位计输出信号与膝关节弯曲角度的对应关系,同时,选取合适的霍尔传感器安装位置,解决了其中存在的双值问题.设计了传感器输出信号采集实验,通过跑步机速度调节来保证步行速度安全可控,测量不同步速下脚尖离地时刻膝关节弯曲角度,分析采集结果找到了它们之间的对应关系.结果与结论:脚尖离地时刻膝关节弯曲角度随着步行速度增大而增大,采用二次曲线拟合取得了较好效果.实验结果显示,水平步行状态下,采用电位计和霍尔传感器作为检测手段能够检测下肢假肢的步速,也能区分支撑期和摆动期.
배경:하지운동시일충복잡적운동,채용합괄적전감기획취인체운동생리신식,성위지능가지공제적전제.국제상현유적하지가지공제신식원위여운동신식유관적물리량,저류신식가이직접반영인체운동적생물역학특성,채집비교간단,비상괄합실시공제.현유지능하지가지산품근거채용적공제방법불동선택일충혹궤충전감기측량인체운동신식.목적:연구일충능구채집지능하지가지공제소수인체운동신식적전감기계통.방법:대지능하지가지대고정식기항조니기적사련간궤계궤구진행운동분석,득출사련간후비하축전위계수출신호여슬관절만곡각도적대응관계,동시,선취합괄적곽이전감기안장위치,해결료기중존재적쌍치문제.설계료전감기수출신호채집실험,통과포보궤속도조절래보증보행속도안전가공,측량불동보속하각첨리지시각슬관절만곡각도,분석채집결과조도료타문지간적대응관계.결과여결론:각첨리지시각슬관절만곡각도수착보행속도증대이증대,채용이차곡선의합취득료교호효과.실험결과현시,수평보행상태하,채용전위계화곽이전감기작위검측수단능구검측하지가지적보속,야능구분지탱기화파동기.
BACKGROUND: Lower limb motion is complex.Proper human motion parameters detection is important for knee prosthesis control.Current lower limb prosthesis control information source is physical quantity related to motion information,which can directly reflect biomechanical characteristics of human motion.It is simple to collect and applicable for real-time control.The lower limb prosthesis utilizes one or several sensors to detect human motion information.OBJECTIVE: To develop a sensor system that can collect human motion information controlled by intelligent lower limb prosthesis.METHODS: Relationship between pivot axis installation potentiometer and knee joint flexion angle was acquired from analysis of four-bar linkage with a fixed pneumatic cylinder.In addition,the proper hall sensor installation position was selected to solve the two-solution problem.A sensor signal acquisition experiment was designed.The treadmill ensure that walking speed was completely under control.Knee joint flexion angle at toe-off in different walking speeds was measured.Curve fitting process provided the correspondence between them.RESULTS AND CONCLUSION: Knee joint flexion angle at toe-off increased with increasing walking speed.Quadratic curve fitting obtained a good effect.Results show that under horizontal walking state,potentiometers and Hall-sensors can be used to detect walking speed of lower limb prosthesis,and distinguish support phase and swing phase.