Functional assessment of amputee performance
Functional assessment of amputee performance
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截肢者表现的功能评估
DOI：
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发表时间：
1992
期刊：
影响因子：
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通讯作者：
J. Mansfield
中科院分区：
文献类型：
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作者：
J. Mansfield
截肢者在执行任务时与环境的相互作用是一个非常重要和复杂的问题。对这一问题的进一步理解揭示了人类运动行为，改进了任务执行中使用的工具的配方，并对更有生产力和多样化的机器人有了类似的见解。不幸的是，很少有人知道或已被量化截肢者的环境相互作用和任务性能。本论文描述了一个人机环境界面，用于实验研究和量化截肢者在执行任务时与环境的互动。人机子系统包括一个单侧，肘部以上截肢者穿着高性能，计算机控制，肘关节假体。计算机可以立即执行和修改广泛的预编程，假肢控制器算法，但仍然允许截肢者不间断地执行一系列任务。对于相同的任务和环境条件，改变控制器架构的过程提供了一种独特的方法，用于调查在任务执行期间截肢者、假体和环境之间的不同相互作用。在实验过程中实现了四个控制器。Boston Elbow和NY Electric Elbow控制器模拟两种市售高输出阻抗假肢。阻抗控制器粗略地模仿了完整肘部的特征，被动控制器反映了流行的身体动力假肢，但缺乏离合器和电缆。后两个控制器表现出低输出阻抗。选择的任务包括一个高度可量化的曲柄转动任务（约束运动任务）和三个日常生活活动任务：切肉（进食任务），穿袜子（穿衣任务），以及使用擀面杖将面团球滚成馅饼皮（双手任务）。基于四名受试者的实验，曲柄任务的结果表明，高输出阻抗的设备可以产生不利影响，在执行任务的过程中，这可能解释了接受外部供电假肢差。对于相同的任务，但具有不同的主题，控制器和约束条件的更相似的运动学测量（位置和速度）与更可变的动态测量（力和功率流）的比较提供了强有力的证据，即人类使用运动学目标执行任务，并具有运动行为的层次组织。动态测量，特别是功率的变化率，被证明是非常有用的分离控制器的特性，揭示相对先进的人类策略，并量化任务的表现。结果还强调了一个可变的输出阻抗设计的重要性，用于执行一系列不相关的任务。模型和仿真表明，任务性能可能是由人类试图最大限度地减少任务的功耗。论文导师：内维尔霍根，博士职称：机械工程和脑与认知科学教授i --
The interaction of amputees with the environment while performing tasks is a very important and complex problem. Increased understanding of the problem provides revelations about human motor behavior, improved formulations for tools used in task performance, and kindred insights into more productive and diverse robots. Unfortunately, very little is known or has been quantified about amputee environmental interaction and task performance. This thesis describes a human-machine-environment interface used to experimentally investigate and quantify amputee interaction with the environment while performing tasks. The human-machine subsystem consists of a unilateral, above-elbow amputee wearing a high performance, computer controlled, elbow prosthesis. The computer can immediately implement and modify a broad range of preprogrammed, prosthesis controller algorithms but still permits the amputee to perform a series of tasks without interruption. The process of changing controller architectures for the same task and environmental conditions provides a unique approach for investigating the different interactions among the amputee, the prosthesis, and the environment during task performance. Four controllers were implemented during the experiments. The Boston Elbow and the NY Electric Elbow controllers simulate two commercially available, high output impedance prostheses. An Impedance controller crudely mimics the characteristics of an intact elbow and a Passive controller mirrors the popular, body-powered prosthesis but lacks both the clutch and cable. The latter two controllers exhibit a low output impedance. The selected tasks included a highly quantifiable crank turning task (constrained motion task) and three Activity of Daily Living tasks: cutting meat (an eating task), donning socks (a dressing task), and using a rolling pin to roll a ball of dough into a pie crust (a bimanual task). Based on the experiments with four subjects, the crank task results show that high output impedance devices can produce adverse effects during task performance; this possibly explains the poor acceptance of externally powered prostheses. The comparison of the more similar kinematic measurements (positions and velocities) with the more variable dynamic measurements (forces and power flows) for the same task but with different subjects, controllers, and constraints provides strong evidence that humans perform tasks using kinematic objectives and have a hierarchical organization of motor behavior. Dynamic measurements, especially the rate of change of power, proved to be extremely useful for segregating controller characteristics, unveiling relatively advanced human strategies, and for quantifying task performance. The results also stress the importance of a variable output impedance design for performing a spectrum of unrelated tasks. Models and simulations demonstrate that task performance may be governed by humans trying to minimize the task's power dissipation. Thesis Supervisor: Neville Hogan, Ph.D. Title: Professor of Mechanical Engineering and Brain & Cognitive Sciences i ---_ ------~-