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

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.

Robotic lower-limb prosthesis plays an increasingly important role in amputees＇ 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.