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.
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.
作者
王启宁
郑恩昊
陈保君
麦金耿
WANG Qi-Ning ZHENG En-Hao CHEN Bao-Jun MAI Jin-Geng(College of Engineering, Peking University, Beijing 100871 Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT), Beijing 100871)
出处
《自动化学报》
EI
CSCD
北大核心
2016年第12期1780-1793,共14页
Acta Automatica Sinica
基金
国家万人计划青年拔尖人才支持计划
国家自然科学基金(61005082
61020106005
61533001)
北京市科技计划项目(Z151100003715001
Z151100000915073)资助~~
关键词
智能动力下肢假肢
人机融合
运动意图识别
感知替代
Powered lower-limb prosthesis, human-robot integration, locomotion intent recognition, sensory substitution