三自由度可切换阻抗肌电假肢手腕

P. Capsi-Morales, Cristina Piazza, G. Grioli, A. Bicchi, M. G. Catalano
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引用次数: 0

摘要

腕关节的灵活性对上肢运动任务的执行有很大帮助。尽管如此,目前的假肢腕关节远不如其他人工关节先进。通常情况下,假肢腕部提供的自由度有限(如果有的话),这就迫使使用者在执行任务时执行补偿动作。这增加了重量和复杂性,是上肢假肢中两个不受欢迎的因素。本文介绍了一种由单个电机驱动的 3 自由度摩擦锁定假肢手腕的设计。该设计的特点是在解锁时具有自适应行为,促进了与环境的温和互动,并使用户能够在抓取前阶段调整手部构造。在执行功能性动作时,对所提出的系统进行了测试,将其与假手相结合,并与商用旋转腕进行了比较。实验涉及九名健全受试者和一名假肢使用者。受试者还用自己的生物手腕(假肢使用者的完整手腕)作为对照进行了实验。结果表明,在不影响用户执行时间的情况下,可锁定手腕的使用频率比商业解决方案高出 20%。交互测试表明,在使用拟议的设计时,补偿动作会减少,从而更接近控制腕的表现。建议的手腕的平均满意度和可用性得分明显更高,这表明它有可能被接受。最后,该系统在假肢使用者的一系列日常生活活动中得到了验证。这项研究有助于开发更直观、适应性更强的假肢,从而提高截肢者的生活质量。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A three degrees of freedom switchable impedance myoelectric prosthetic wrist
Wrist mobility contributes significantly to the execution of upper limb motor tasks. Despite this, current prosthetic wrists are far less advanced than other artificial joints. Typically, prosthetic wrists offer limited degrees of freedom, if any, which forces users to execute compensatory movements during task performance. This addition increases weight and complexity, two unwelcome factors in upper limb prostheses. This article presents the design of a 3-degree-of-freedom friction-lockable prosthetic wrist actuated by a single motor. The design features adaptable behavior when unlocked, promoting a gentle interaction with the environment, and enables users to adjust the hand configuration during pre-grasping phases. The proposed system was tested, combined with a hand prosthesis, and compared to a commercial rotational wrist during the execution of functional movements. Experiments involved nine able-bodied subjects and one prosthesis user. Participants also performed the experiments with their biological wrist (the intact wrist for the prosthesis user) as a control. Results showed that the lockable wrist was used actively 20% more often than the commercial solution without compromising users’ execution time. Interaction tests reveal that compensatory movements are reduced when using the proposed design, resulting in closer resemblance to the control wrist’s performance. The average satisfaction and usability scores were significantly higher for the proposed wrist, indicating its potential acceptance. Finally, the system was validated in a set of activities of daily living performed by the prosthesis user. The study contributes to the development of more intuitive and adaptable prostheses that can improve the quality of life of amputees.
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