摘要
智能仿生下肢假肢是集电子信息、控制、材料、机械和生物医学为一体的新一代假肢,能较好地代偿截肢患者丧失的运动功能,提高患者的行动能力。在国家自然科学基金—联合基金项目(U1613222)支持下,针对当前智能仿生下肢假肢行走意图识别精度低、步态控制稳定性差等关键问题,研究了利用神经功能重建获取更多肌电信息源、利用生理电信号结合生物力学信号进行行走意图精确识别,以及利用柔性控制方法结合环境识别实现假肢仿生控制等基础理论技术。此外,项目团队设计了三种动力型下肢假肢,进行了系统集成与验证,实现了在五种地形下较为自然的行走。项目成果将能推进智能下肢假肢的产业化进程,对提高患者生活质量、减轻家庭和社会负担具有重要意义。
Intelligent bionic lower limb prosthesis integrates the key technologies in a number of scientific fields such as electronic information,control,materials,machinery and biomedicine.As a new generation of prostheses,an intelligent bionic lower limb prosthesis can compensate well for the loss of motor function of amputees and improve their daily activities.The accuracy of walking intention recognition and the stability of control are two important factors that would affect the function of intelligent leg prosthesis.The key issues of the current intelligent bionic lower limb prosthesis are less accuracy in walking intention recognition and poor control in gait stability.The project investigated the use of neural functional reconstruction to obtain multiple sources of electromyography information.The fusion of physiological electrical signals and biomechanical signals was used to recognize walking intentions accurately.A flexible control method was studied for bionic controlling of the prosthesis under the environment recognition.Three types of powered lower limb prostheses were also designed and prototyped.At last,the system integration and verification were carried out in natural walking of several leg amputees in the five terrains.The results are conducive to promoting the industrialization of intelligent lower limb prostheses,and are of great significance to improving the quality of individual life of amputees and reducing the burden on families and society.
作者
黄品高
黄剑平
黄博俊
方鹏
刘志远
李光林
Huang Pingao;Huang Jianping;Huang Bojun;Fang Peng;Liu Zhiyuan;Li Guanglin(Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,and Guangdong-HongKong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems,Shenzhen 518055;School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin 541004)
出处
《中国科学基金》
CSSCI
CSCD
北大核心
2021年第S01期227-235,共9页
Bulletin of National Natural Science Foundation of China
基金
国家自然科学基金项目(U1613222)的资助
关键词
仿生下肢假肢
神经功能重建
行走意图识别
假肢智能控制
bionic leg prostheses
neuromuscular function reinnervation
ambulation-intention recognition
prosthetic intelligent control
