Human Lower Limb Joint Biomechanics in Daily Life Activities: A Literature Based Requirement Analysis for Anthropomorphic Robot Design.
Human Lower Limb Joint Biomechanics in Daily Life Activities: A Literature Based Requirement Analysis for Anthropomorphic Robot Design.
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DOI：
10.3389/frobt.2020.00013
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发表时间：
2020
影响因子：
3.4
通讯作者：
Beckerle P
中科院分区：
文献类型：
--
作者：
Grimmer M;Elshamanhory AA;Beckerle P
人类的日常活动具有各种各样的运动任务特征。这项工作基于先前发表的文献，总结了一系列日常活动中髋关节、膝关节和踝关节矢状面的生物力学，以确定机器人设计的要求。提取、比较和分析了基本运动任务和体育活动任务中的最大关节功率、力矩、角速度、角加速度以及与运动相关的活动范围和平均绝对功率。我们发现，要模拟人类的表现和多功能性，需要完整的人类活动范围。一般来说，体育活动在角速度、角加速度、力矩、功率和平均绝对功率方面对关节的要求最高。然而，在髋关节处，一些基本运动（如恢复动作）有着相当甚至更高的要求。此外，我们发现，在站立阶段，力矩和功率需求通常较高，而在行走任务中，与站立相比，摆动阶段的角速度和角加速度大多较高或相等。所提取的要求提供了一种全新的综合概述，有助于确定执行器的尺寸，从而为可穿戴下肢机器人提供定制的辅助或康复功能，并使类人机器人实现超越人类自然能力的基本、体育或增强性能。
Daily human activity is characterized by a broad variety of movement tasks. This work summarizes the sagittal hip, knee, and ankle joint biomechanics for a broad range of daily movements, based on previously published literature, to identify requirements for robotic design. Maximum joint power, moment, angular velocity, and angular acceleration, as well as the movement-related range of motion and the mean absolute power were extracted, compared, and analyzed for essential and sportive movement tasks. We found that the full human range of motion is required to mimic human like performance and versatility. In general, sportive movements were found to exhibit the highest joint requirements in angular velocity, angular acceleration, moment, power, and mean absolute power. However, at the hip, essential movements, such as recovery, had comparable or even higher requirements. Further, we found that the moment and power demands were generally higher in stance, while the angular velocity and angular acceleration were mostly higher or equal in swing compared to stance for locomotion tasks. The extracted requirements provide a novel comprehensive overview that can help with the dimensioning of actuators enabling tailored assistance or rehabilitation for wearable lower limb robots, and to achieve essential, sportive or augmented performances that exceed natural human capabilities with humanoid robots.
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影响因子：
2.3
作者：
Baumbach SF;Brumann M;Binder J;Mutschler W;Regauer M;Polzer H
通讯作者：
Polzer H
影响因子：
2.4
作者：
Hof, AL
通讯作者：
Hof, AL
影响因子：
2.4
作者：
Anderson, Dennis E.;Madigan, Michael L.;Nussbaum, Maury A.
通讯作者：
Nussbaum, Maury A.
一个动力的假肢踝关节，用于行走和跑步。
影响因子：
3.9
作者：
Grimmer M;Holgate M;Holgate R;Boehler A;Ward J;Hollander K;Sugar T;Seyfarth A
通讯作者：
Seyfarth A
影响因子：
0.8
作者：
Guenther, Michael;Sholukha, Viktor A.;Blickhan, Reinhard
通讯作者：
Blickhan, Reinhard