A basic study for a robotic transfer aid system based on human motion analysis
A basic study for a robotic transfer aid system based on human motion analysis
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基于人体运动分析的机器人转运辅助系统的基础研究
DOI：
10.1163/156855301742021
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发表时间：
2001
影响因子：
2
通讯作者：
M. Muro
中科院分区：
文献类型：
--
作者：
T. Tsuruga;S. Ino;T. Ifukube;Mitsuru Sato;Toshiaki Tanaka;T. Izumi;M. Muro
金属氢化物（MH）致动器利用吸氢合金的热能和机械能的可逆反应，运动平稳，无噪音。此外，执行器紧凑，轻便，具有足够的顺应性。为了将MH作动器应用于转移辅助系统，本文进行了人体运动模式的实验研究。从生物医学工程的角度对结果进行评估，以获得将残疾人从床上转移到轮椅上的最佳参数，反之亦然（转移辅助）。使用三维运动分析仪测量矢状面运动学、下肢表面肌电图信号、地面反作用力和足部压力分布。实验结果表明，当踝关节初始角度为70°时，转移辅助装置的运动较为平稳。从床上站立时，躯干的最佳初始角度约为45°。然而，当一个人坐在轮椅上时，躯干的初始角度最好是60°。此外，支撑下肢的膝垫需要在0.1-0.2 kgf/mm范围内的柔韧性。
A metal hydride (MH) actuator uses the reversible reaction between heat energy and mechanical energy of a hydrogen-absorbing alloy and moves smoothly without any noise. Moreover, the actuator is compact, light and has adequate compliance. In this paper, some experiments concerning human motion patterns were carried out in order to adopt the MH actuator to the transfer aid system. The results were evaluated from a biomedical engineering viewpoint in order to obtain the optimal parameters for transferring the disabled from a bed to a wheelchair and vice versa (transfer aid). Sagittal plane kinematics, surface electromyographic signals (EMG) obtained from lower limbs, ground reaction forces and foot pressure distribution were measured using a three-dimensional motion analyzer. From the experimental results, it was found that the motion of the transfer aid was smooth when the initial angle of the ankle was 70°. The best initial angle of the trunk was also found to be about 45° while standing from a bed. However, the initial angle of the trunk was best at 60° when a person was in the process of sitting down on a wheelchair. Furthermore, a knee pad which supports the lower limbs requires flexibility in the range of 0.1-0.2 kgf/mm.