Load-bearing optimization for customized exoskeleton design based on kinematic gait reconstruction.

IF 2.6 4区 医学 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Medical & Biological Engineering & Computing Pub Date : 2024-11-06 DOI:10.1007/s11517-024-03234-5
Zhengxin Tu, Jinghua Xu, Zhenyu Dong, Shuyou Zhang, Jianrong Tan
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Abstract

This paper presents a load-bearing optimization method for customized exoskeleton design based on kinematic gait reconstruction (KGR). For people with acute joint injury, it is no longer probable to obtain the movement gait via computer vision. With this in mind, the 3D reconstruction can be executed from the CT (computed tomography) or MRI (magnetic resonance imaging) of the injured area, in order to generate micro-morphology of the joint occlusion. Innovatively, the disconnected entities can be registered into a whole by surface topography matching with semi-definite computing, further implementing KGR by rebuilding continuous kinematic skeletal flexion postures. To verify the effectiveness of reconstructed kinematic gait, finite element analysis (FEA) is conducted via Hertz contact theory. The lower limb exoskeleton is taken as a verification instance, where rod length ratio and angular rotation range can be set as the design considerations, so as to optimize the load-bearing parameters, which is suitable for individual kinematic gaits. The instance demonstrates that the proposed KGR helps to provide a design paradigm for optimizing load-bearing capacity, on the basis of which the ergonomic customized exoskeleton can be designed from merely medical images, thereby making it more suitable for the large rehabilitation population.

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基于运动步态重建的定制外骨骼承重优化设计。
本文介绍了一种基于运动步态重建(KGR)的定制外骨骼设计承重优化方法。对于急性关节损伤患者来说,通过计算机视觉获取运动步态已不再可能。有鉴于此,可以通过受伤部位的 CT(计算机断层扫描)或 MRI(磁共振成像)进行三维重建,以生成关节闭塞的微观形态。创新性的是,可以通过半无限计算的表面形貌匹配,将断开的实体注册为一个整体,通过重建连续的运动骨骼弯曲姿势,进一步实施 KGR。为了验证重建运动步态的有效性,我们通过赫兹接触理论进行了有限元分析(FEA)。以下肢外骨骼作为验证实例,在设计时可考虑设置杆长比和角度旋转范围,从而优化承重参数,使其适用于个体运动步态。该实例表明,所提出的KGR有助于提供优化承重能力的设计范例,在此基础上,仅凭医学图像就能设计出符合人体工程学的定制外骨骼,从而使其更适合广大康复人群。
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来源期刊
Medical & Biological Engineering & Computing
Medical & Biological Engineering & Computing 医学-工程:生物医学
CiteScore
6.00
自引率
3.10%
发文量
249
审稿时长
3.5 months
期刊介绍: Founded in 1963, Medical & Biological Engineering & Computing (MBEC) continues to serve the biomedical engineering community, covering the entire spectrum of biomedical and clinical engineering. The journal presents exciting and vital experimental and theoretical developments in biomedical science and technology, and reports on advances in computer-based methodologies in these multidisciplinary subjects. The journal also incorporates new and evolving technologies including cellular engineering and molecular imaging. MBEC publishes original research articles as well as reviews and technical notes. Its Rapid Communications category focuses on material of immediate value to the readership, while the Controversies section provides a forum to exchange views on selected issues, stimulating a vigorous and informed debate in this exciting and high profile field. MBEC is an official journal of the International Federation of Medical and Biological Engineering (IFMBE).
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