• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems >Mapping Thigh Motion to Knee Motion: Implications for Motion Planning of Active Prosthetic Knees
【24h】

Mapping Thigh Motion to Knee Motion: Implications for Motion Planning of Active Prosthetic Knees

机译：将大腿动作映射到膝关节运动：对主动假体膝盖的运动规划的影响

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

One of the main challenges of the active assistive devices is how to estimate the motion of the missing/impaired limbs and joints in line with the remaining limbs. To do so, a motion planner is required. This study proposes a motion planner that can be used for active prosthetic/orthotic knees. The aim is to continuously estimate the knee joint positions based on the thigh motion, using as few inputs as possible. Data from thigh-mounted IMU (thigh acceleration and angle) are used as inputs to estimate knee joint positions as outputs. It is aimed to continuously estimate the outputs as opposed to the state-machine approaches which divide the gait cycles into different sections and require switching rules. The performance of the motion planner is investigated for five walking speeds (0.6, 0.9, 1.2, 1.4 and 1.6 m/s). The strengths and limitations of the motion planer are investigated at different scenarios.
机译：主动辅助装置的主要挑战之一是如何估算缺失/受损四肢的运动和关节与剩余的四肢。为此，需要一个运动计划。本研究提出了一种运动计划者，可用于主动假体/矫形膝盖。目的是使用尽可能少的输入，连续地估计基于大腿运动的膝关节位置。从大腿安装的IMU（大腿加速度和角度）的数据用作估计作为输出的膝关节位置的输入。它旨在持续估计输出而不是将步态周期分成不同部分的状态机方法，并要求切换规则。调查运动计划的性能5步行速度（0.6,0.9,1.2,1.4和1.6 m / s）。在不同场景中调查了运动刨床的强度和局限性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号