可调刚度假肢实现类人手臂的自适应运动与交互。
Introducing V-Soft Pro: a Modular Platform for a Transhumeral Prosthesis with Controllable Stiffness
- 采用可变刚度执行器模拟生物关节的柔顺性。
- 模块化设计适配不同残肢，支持多路生物信号控制。
- 弹性元件提升动作自然度与环境交互安全性。
现有上肢假肢虽能提升用户日常生活独立性，但难以复现人体手臂的自然运动与交互能力。人类肢体依赖固有柔顺性并主动调节关节刚度，以适应不同任务、吸收冲击并高效传递能量。受此启发，我们开发了一种具有可变刚度执行器（VSAs）的肘下假肢，模拟生物关节的可控柔顺特性。该假肢采用模块化设计，可适配不同残肢形态，并支持来自用户生物信号的多路独立控制输入。集成的弹性元件被动支撑更自然的运动，促进安全环境交互，并适应多样化任务需求。本文全面介绍了该平台的功能与架构，凸显其在假肢领域的应用潜力。
原文摘要 · Abstract (English)
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In contrast, human limbs leverage intrinsic compliance and actively modulate joint stiffness, enabling adaptive responses to varying tasks, impact absorption, and efficient energy transfer during dynamic actions. Inspired by this adaptability, we developed a transhumeral prosthesis with Variable Stiffness Actuators (VSAs) to replicate the controllable compliance found in biological joints. The proposed prosthesis features a modular design, allowing customization for different residual limb shapes and accommodating a range of independent control signals derived from users' biological cues. Integrated elastic elements passively support more natural movements, facilitate safe interactions with the environment, and adapt to diverse task requirements. This paper presents a comprehensive overview of the platform and its functionalities, highlighting its potential applications in the field of prosthetics.
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