Robotic lower limb prosthesis design through simultaneous computer optimizations of human and prosthesis costs.
Robotic lower limb prosthesis design through simultaneous computer optimizations of human and prosthesis costs.
复制标题
DOI：
10.1038/srep19983
复制
发表时间：
2016-02-09
影响因子：
4.6
通讯作者：
Srinivasan M
中科院分区：
文献类型：
--
作者：
Handford ML;Srinivasan M
机器人下肢假肢可以提高截肢者的生活质量。这类设备的开发目前主要是长时间的原型设计，可以通过预测模拟来加快。在对比一些截肢者模拟跟踪实验确定的非截肢者行走运动学，在这里，我们明确建模的人假体的相互作用，以产生用户的行走运动学的预测。我们获得模拟截肢者使用踝足假肢，同时优化人体运动和假肢驱动，最大限度地减少人体代谢和假肢成本的加权总和。由此产生的帕累托最优解预测，增加假体的能量成本，减少假体质量，并允许不对称的步态都降低人体代谢率为一个给定的速度和改变人体运动学。代谢率随速度单调增加。值得注意的是，通过对非截肢者进行类似的优化，我们预测截肢者使用适当优化的机器人假肢行走可以具有更低的代谢成本-甚至低于假设非截肢者的踝关节扭矩是免费的。
Robotic lower limb prostheses can improve the quality of life for amputees. Development of such devices, currently dominated by long prototyping periods, could be sped up by predictive simulations. In contrast to some amputee simulations which track experimentally determined non-amputee walking kinematics, here, we explicitly model the human-prosthesis interaction to produce a prediction of the user’s walking kinematics. We obtain simulations of an amputee using an ankle-foot prosthesis by simultaneously optimizing human movements and prosthesis actuation, minimizing a weighted sum of human metabolic and prosthesis costs. The resulting Pareto optimal solutions predict that increasing prosthesis energy cost, decreasing prosthesis mass, and allowing asymmetric gaits all decrease human metabolic rate for a given speed and alter human kinematics. The metabolic rates increase monotonically with speed. Remarkably, by performing an analogous optimization for a non-amputee human, we predict that an amputee walking with an appropriately optimized robotic prosthesis can have a lower metabolic cost – even lower than assuming that the non-amputee’s ankle torques are cost-free.