用外骨骼机器人模拟8种虚拟环境，实现未来化步态康复训练。
The Realization of Virtual Environments in the Lower Limb Exoskeletal Robot
- 通过实时计算人体动力学与运动数据，动态调节交互力矩。
- 在8种虚拟环境中，肌电信号随重力、浮力和阻力变化显著。
- 健康受试者可准确区分所有虚拟环境，适合康复训练研究。
本研究提出一种利用下肢外骨骼机器人实现多种虚拟环境的方法，用于未来步态康复。该方法使用户在主动行走时感受虚拟重力、浮力和阻力。虚拟环境包括四种流体条件：水、橄榄油、蜂蜜和花生酱，以及四种重力条件：地球、月球、火星和木星重力。外骨骼机器人的控制方法如下：首先，通过扭矩反馈控制外骨骼与用户的交互力；其次，基于人体动力学方程和运动学数据实时计算参考扭矩。八种虚拟环境通过集成于轮椅的EXOWheel外骨骼机器人实现。在佩戴肌电传感器并穿戴EXOWheel的情况下，八名健康受试者在虚拟条件下主动行走。实验结果表明，肌肉力量信号随重力、浮力和阻力效应明显变化。盲测验证了受试者能可靠区分全部八种虚拟环境。
原文摘要 · Abstract (English)
This study proposes the realization of various virtual environments using a lower limb exoskeletal robot for futuristic gait rehabilitation. The proposed method allows the user to feel virtual gravity, buoyancy, and drag while actively walking. The virtual environments include four fluidic conditions: Water, Olive oil, Honey, and Peanut Butter, and four gravitational conditions consisting of the Earth's, Moon's, Mars', and Jupiter's gravity. The control method of the lower limb exoskeletal robot is as follows. First, torque feedback is applied to control the interaction force between the exoskeletal robot and its user. Second, the reference torque is computed in real time with the dynamic equations of the human body and the kinematic data. The eight environments were implemented via the EXOWheel, a wheelchair-integrated lower limb exoskeletal robot. While attaching electromyography sensors and wearing the EXOWheel, eight healthy subjects walked actively under the virtual conditions. Experimental results show that muscular force signals adequately change depending on gravitational, buoyant, and drag effects. Blind tests confirmed that subjects could reliably distinguish all eight virtual environments.
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