人-机-环境共融的智能假肢膝关节研究进展  

Progress in the Development of Man-Machine-Environment Integrated Intelligent Prosthetic Knee

作　　者：汪晓铭 黎林荣 陈长龙 孙洁[1,2,3] 张哲文 孟巧玲 喻洪流[1,2,3] Wang Xiaoming;Li Linrong;Chen Changlong;Sun Jie;Zhang Zhewen;Meng Qiaoling;Yu Hongliu(Institute of Rehabilitation Engineering and Technology,University of Shanghai for Science and Technology,Shanghai 200093,China;Shanghai Engineering Research Center of Assistive Devices,Shanghai 200093,China;Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs,Shanghai 20093,China)

机构地区：[1]上海理工大学康复工程与技术研究所,上海200093 [2]上海康复器械工程技术研究中心,上海200093 [3]民政部神经功能信息与康复工程重点实验室,上海200093

出　　处：《中国生物医学工程学报》2023年第4期486-501,共16页Chinese Journal of Biomedical Engineering

基　　金：国家自然科学基金(62073224);国家重点研究计划课题(2018YFB1307303);国家建设高水平大学公派研究生项目(202108310200)。

摘　　要：智能假肢膝关节作为下肢假肢中最重要的部件,是一种人-机-环境高度共融的复杂系统,解决此共融系统中的关键科学问题是实现假肢穿戴者步态自然柔顺的必要条件。以仿生设计、智能感知和智能控制这3个主要研究方向为切入点,综述智能假肢膝关节的研究进展。仿生设计的重点在于如何通过仿生结构与驱动设计,使假肢关节拟合人体关节驱动/阻尼代偿机制;智能感知聚焦于如何建立人-机-环境交互通道,实现人体运动意图识别与人机协同任务中的混合决策;智能控制主要关注如何在动态环境中调整假肢运动或驱动策略,使假肢更接近于人体正常的步态特征。最后,探讨智能假肢膝关节在人-机-环境共融研究中的发展方向与挑战,其中研究重点包括主被动混合代偿驱动、人体自主使能控制以及人-机-环境双闭环交互。The intelligent prosthetic knee,as the most important component in the lower limb prosthesis system,is a sophisticated system with the high integration of man-machine-environment.The solution of its key programs is a crucial step towards natural and compliant gait of the amputee wearing a prosthetic knee in practical applications.In this article,we reviewed the research progress of the intelligent prosthetic knee from the perspectives of bionic design,intelligent perception,and intelligent control.Bionic design focuses on how to make the prosthetic knee fit the driving/damping compensation mechanism of human joint through bionic structure and actuator design.Intelligent perception focuses on how to establish a man-machine-environment interaction channel to realize the hybrid decision-making in locomotion intention recognition and man-machine collaborative tasks.Intelligent control focuses on how to adjust the actuating strategy of the prosthetic knee in a dynamic environment to improving the approximation with normal gait characteristics.Finally,we discussed future directions and challenges in the research of the intelligent prosthetic knee,including the hybrid active-passive compensatory actuating,volitional control and man-machine-environment double closed-loop interaction.

关 键 词：智能假肢膝关节 人-机-环境共融 仿生驱动代偿 运动意图识别 自主使能控制 

分 类 号：R318[医药卫生—生物医学工程]