学术论文

      面向人机融合的智能动力下肢假肢研究现状与挑战

      Recent Progress and Challenges of Robotic Lower-limb Prostheses for Human-robot Integration

      摘要:
      智能动力下肢假肢在残疾人生活中起着越来越重要的作用。解决人?智能假肢?环境融合中的关键科学问题是实现假肢穿戴者安全、流畅运动的必要条件。本文针对此问题,综述了面向人机融合的智能动力下肢假肢研究,包括智能动力下肢假肢的仿生结构和控制方法、人体运动意图识别、复杂环境下的人?智能假肢融合、以及用于下肢假肢的感知替代和反馈,深入探讨了智能动力下肢假肢人机融合研究中所面临的挑战和问题,最后,本文对该领域的未来发展方向进行了展望和总结。
      Abstract:
      Robotic lower-limb prosthesis plays an increasingly important role in amputees0 daily activities. One of the key programs in this research area is the human-prosthesis-environment interaction, and its solution is a crucial step towards reliable and smooth motions of the amputee wearing a robotic prosthesis in practical applications. In this paper, we overview the state-of-the-art of the robotic lower-limb prosthesis in the context of human-prosthesis-environment interaction. The overview includes bio-inspired mechanical structure design, control strategy, human intenting recognition, human-prosthesis interaction in complex environments, and sensory substitution for human-in-loop control. At last, existing challenges and future directions are discussed.
      作者: 王启宁 [1] 郑恩昊 [2] 陈保君 [2] 麦金耿 [2]
      Author: WANG Qi-Ning [1] ZHENG En-Hao [2] CHEN Bao-Jun [2] MAI Jin-Geng [2]
      作者单位: 北京大学工学院 北京 100871; 北京大学工程科学与新兴技术高精尖创新中心 北京 100871 北京大学工学院 北京 100871
      刊 名: 自动化学报 ISTICEIPKU
      年,卷(期): 2016, 42(12)
      在线出版日期: 2017年2月17日
      基金项目: 国家万人计划青年拔尖人才支持计划,国家自然科学基金,北京市科技计划项目(Z151100003715001, Z151100000915073)资助Supported by the National Program for Support of Top-notch Young Professionals, National Natural Science Foun-dation of China,Beijing Municipal Science and Technology Project