基于柔性电容传感的人-智能假肢-环境感知运动融合基础理论与关键技术研究

As an important branch in the field of rehabilitation, intelligent powered lower-limb prostheses greatly extents the mobility of the amputees in their daily living. The key issue is how to realize human prosthesis sensori-motor integration in complex dynamic environment. In this project, we firstly propose a flexible capacitive sensing method to recognize human locomotion intent. This method can solve the problems of existing sensing approaches by freeing human skin from contacting to metal electrodes. Then we design and construct a knee-ankle-foot prosthesis with compliance adaptable joints. By combining the flexible capacitive sensing system and the prosthesis, the amputee can perform natural ambulation on various terrains and realize autonomous adaptation to gait transitions. Extensive experiments are carried out to evaluate the proposed human-prosthesis integration system on redonning the socket, long-time usage and random gait transitions. More than 20 amputee subjects are going to be recruited for the experiments to validate the effectiveness of the proposed prosthesis by analyzing metabolic cost, gait symmetry and total work during different gaits. To further extent the study, we make attempts to introduce the peripheral nerve based interface for tactile compensation and evaluate its influence on gait characteristics.

作为共融机器人在医疗康复领域的典型代表，智能动力下肢假肢与人和环境的有效融合是亟待解决的关键科学问题。本项目首先突破传统的生物信号来源，创新性的探索电容传感在人体运动意图识别中的机理和假肢控制中的应用，实现柔性可延展的电容传感测量前端，使残疾人的皮肤不接触金属电极，克服现有生物信号测量方法的局限，并保证稳定测量的同时不干涉残疾人运动。其次，研制一款具有柔性可控踝关节和膝关节的智能动力下肢假肢，研究在不同的地形下依靠运动意图识别的决策实现对智能假肢的控制，以实现残疾人稳定流畅的行走；实现当外部环境和条件变化时，运动意图识别算法和假肢控制算法的自适应。最后，开展样本量不少于20人的残疾人穿戴实验，研究膝-踝智能假肢在多种地形和不同行走速度下行走对残疾人运动能耗、步态对称性、假肢功耗等关键性能的影响。此外，探索基于外周神经接口的触觉补偿机制及其对下肢残疾人步态性能的影响。