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Microstructure and In-Plane Mechanical Property Comparison of Human and Porcine Cornea. 人与猪角膜的显微结构及面内力学性能比较。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-09-01 DOI: 10.1115/1.4068828
Hamed Hatami-Marbini, Md Esharuzzaman Emu

The present work characterized mechanical properties of human and porcine cornea along nasal-temporal (NT) and superior-inferior (SI) directions. Because of easy accessibility and comparable dimensions, porcine cornea has been widely used for investigating human corneal properties. Here, similarities and differences between human and porcine corneal biomechanics were characterized using a biaxial testing machine (ElectroForce Planar Biaxial TestBench, TA Instruments, New Castle, DE) and a uniaxial testing device (RSA-G2 Solids Analyzer, TA Instruments, New Castle, DE). Furthermore, transmission electron microscopy (TEM) was done to characterize the microstructure of samples. The biaxial and uniaxial experiments showed that neither human nor porcine cornea had anisotropic tensile properties along SI and NT directions. The tensile properties obtained from uniaxial tests were significantly lower than biaxial measurements (P < 0.05). Both testing methods gave significantly larger peak stress and tangent modulus for human cornea (p < 0.05). In comparison with those of porcine cornea, the human corneal collagen fibril diameter (FD), interfibrillar spacing (IFS), and lamellar projected thickness were significantly smaller (P < 0.05). The lamellar projected thickness of each species along SI and NT directions was significantly different (P < 0.05). The differences and similarities between mechanical response of porcine and human cornea were discussed in terms of microstructure of their extracellular matrices. It was concluded that improving awareness among researchers about mechanical differences between human and porcine cornea is essential.

本文研究了人类和猪角膜沿鼻颞(NT)和上-下(SI)方向的力学特性。角膜是眼睛前部的透明组织,在视力中起着重要作用。由于易于获取和可比较的尺寸,猪角膜已被广泛用于研究人类角膜特性。关于猪和人角膜各向异性力学性能的报道存在矛盾。本研究采用双轴试验机(ElectroForce Planar biaxial TestBench, TA Instruments)和单轴测试装置(RSA-G2固体分析仪,TA Instruments)来表征人和猪角膜生物力学的异同。并用透射电镜对样品的微观结构进行了表征。双轴和单轴实验均表明,人和猪角膜在SI和NT方向上均不具有各向异性拉伸特性。单轴拉伸性能显著低于双轴拉伸性能(P < 0.05)。两种检测方法对人角膜的峰值应力和切线模量均有显著性差异(p < 0.05)。人角膜胶原原纤维直径、纤维间距、板层投影厚度均显著小于对照组(P < 0.05)。各树种沿SI和NT方向的层状投影厚度差异显著(P < 0.05)。从细胞外基质的微观结构方面讨论了猪与人角膜力学响应的异同。结论是,研究人员应该了解人类和猪角膜的力学差异。
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引用次数: 0
Wearable Tensiometry for Measuring Achilles and Patellar Tendon Loading While Walking on Various Terrains and Stairs. 可穿戴式张力测量仪,用于测量在各种地形和楼梯上行走时跟腱和髌骨肌腱的负荷。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-08-01 DOI: 10.1115/1.4068545
Alex J Reiter, Elizabeth A Schmida, Yiteng Ma, Peter G Adamczyk, Darryl G Thelen

Assessing movement biomechanics is important for understanding healthy locomotion, injury or disease progression, and recovery. However, laboratory- or clinic-based studies fail to capture the ecological factors of real-world activity. Advancements in wearable sensors provide an opportunity to capture movement biomechanics in these settings. This study demonstrates the capacity of a wearable system to measure patellar and Achilles tendon kinetics via tensiometry as well as knee and ankle kinematics via inertial measurement units (IMUs) while walking across varied terrains, including level ground, sloped pavement, and stairs. The wearable system successfully captured time-varying tendon loading over the walking gait cycle. Both patellar and Achilles tendon loading showed distinct sensitivities to changes in slope and stairs. Importantly, these tendon loading patterns correspond well with prior measurements of knee extension and ankle plantarflexion moment profiles obtained via traditional motion analysis. This represents a significant advancement over studies that relied on traditional complex, immobile equipment to obtain comparable results. The portability of the wearable system may allow for objective assessments of human performance, injury risk, functional adaptation due to injury, and treatment response in real-world environments.

评估运动生物力学对于理解健康运动、损伤或疾病进展和恢复是重要的。然而,基于实验室或临床的研究未能捕捉到现实世界活动的生态因素。可穿戴传感器的进步为在这些环境中捕捉运动生物力学提供了机会。本研究展示了可穿戴系统的能力,通过张力测量来测量髌骨和跟腱动力学,以及通过惯性测量单元来测量膝关节和踝关节运动学,同时行走在不同的地形上,包括平地、倾斜的人行道和楼梯。该可穿戴系统成功捕获了行走步态周期中随时间变化的肌腱载荷。髌骨和跟腱载荷对坡度和台阶的变化都表现出明显的敏感性。重要的是,这些肌腱加载模式与之前通过传统运动分析获得的膝关节伸展和踝关节跖屈力矩曲线相吻合。与依靠传统复杂、固定设备获得可比结果的研究相比,这是一项重大进步。可穿戴系统的便携性可以客观评估人类的表现、受伤风险、受伤后的功能适应以及现实环境中的治疗反应。
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引用次数: 0
Revisiting Murray's Law in Pulmonary Arteries: Exploring Branching Patterns and Principles. 重新审视默里的肺动脉定律:探索分支模式和原理。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-08-01 DOI: 10.1115/1.4068886
Sofia Altieri Correa, Amirreza Kachabi, Mitchel J Colebank, Christopher E Miles, Naomi C Chesler

In 1926, Cecil D. Murray published a fundamental law of physiology relating the form and function of branched vessels. Murray's Law predicts that the diameter of a parent vessel branching into two child branches is mathematically related by a cube law based on parabolic flow and power minimization with vascular volume. This law is foundational for computational analyses of branching vascular structures. However, pulmonary arteries exhibit morphometric and hemodynamic characteristics that may deviate from classical predictions. This study investigates the morphometry of pulmonary arterial networks, examining relationships between parent and child vessel diameters across species. We analyzed three-dimensional segmentations of pulmonary arterial geometries from healthy subjects across four species: human (n = 7), canine (n = 5), swine (n = 4), and murine (n = 3). Our findings reveal an average exponent value of 2.31(±0.60) in human, 2.13(±0.54) in canine, 2.10(±0.49) in swine, and 2.59(±0.58) in murine, all lower than the predicted value of 3.0 from Murray's Law. Extending Murray's Law to fully developed pulsatile flow based on minimal impedance, we show that mean flow is proportional to radius raised to a power between 2.1 and 3, depending on the Womersley number. Our findings suggest that while Murray's Law provides a useful baseline, pulmonary artery (PA) branching follows a different optimization principle depending on Womersley number. This study contributes to a deeper understanding of pulmonary arterial structure-function relationships and implications for vascular disease modeling.

1926年,塞西尔·默里(Cecil D. Murray)发表了有关分支血管形态和功能的生理学基本定律。默里定律预测,一个母血管分支成两个子血管的直径在数学上与基于抛物线流和血管体积功率最小化的立方体定律有关。这一规律是分支维管结构计算分析的基础。然而,肺动脉表现出的形态和血流动力学特征可能偏离经典预测。本研究调查了肺动脉网络的形态测量学,检查了跨物种父母和孩子血管直径之间的关系。我们分析了四种健康受试者肺动脉几何形状的三维分割:人类(n=7)、犬(n=5)、猪(n=4)和鼠(n=3)。结果表明,人类的平均指数为2.31(±0.60),犬的平均指数为2.13(±0.54),猪的平均指数为2.10(±0.49),鼠的平均指数为2.59(±0.58),均低于默里定律预测值3.0。将默里定律扩展到基于最小阻抗的完全发展的脉动流,我们表明平均流量与半径成正比,根据沃默斯利数,半径提高到2.1到3之间的幂。我们的研究结果表明,虽然默里定律提供了一个有用的基线,但肺动脉分支遵循不同的优化原则,这取决于沃默斯利数。该研究有助于更深入地了解肺动脉结构-功能关系及其对血管疾病建模的影响。
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引用次数: 0
Predictive Modeling of Human Skin Deformation and Growth During Tissue Expansion in Postmastectomy Breast Reconstruction. 乳房切除术后乳房重建中组织扩张过程中人体皮肤变形和生长的预测模型。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-07-01 DOI: 10.1115/1.4068370
Joel Laudo, Tianhong Han, Joanna Ledwon, Ariel E Figueroa, Arun K Gosain, Taeksang Lee, Adrian Buganza Tepole

Breast reconstruction using tissue expanders is the primary treatment option following mastectomy. Although skin growth in response to chronic supra-physiological stretch is well-established, individual patient factors such as breast shape, volume, skin prestrain, and mechanical properties, create unique deformation and growth patterns. The inability to predict skin growth and deformation prior to treatment often leads to complications and suboptimal esthetic outcomes. Personalized predictive simulations offer a promising solution to these challenges. We present a pipeline for predictive computational models of skin growth in tissue expansion. At the start of treatment, we collect three-dimensional (3D) photos and create an initial finite element model. Our framework accounts for uncertainties in treatment protocols, mechanical properties, and biological parameters. These uncertainties are informed by surgeon input, existing literature on mechanical properties, and prior research on porcine models for biological parameters. By collecting 3D photos longitudinally during treatment, and integrating the data through a Bayesian framework, we can systematically reduce uncertainty in the predictions. Calibrated personalized models are sampled using Monte Carlo methods, which require thousands of model evaluations. To overcome the computational limitations of directly evaluating the finite element model, we use Gaussian process surrogate models. We anticipate that this pipeline can be used to guide patient treatment in the near future.

使用组织扩张器进行乳房重建是乳房切除术后的主要治疗选择。虽然皮肤生长是对慢性超生理拉伸的反应,但个体患者因素,如乳房形状、体积、皮肤预张力和机械特性,会产生独特的变形和生长模式。在治疗前无法预测皮肤的生长和变形常常导致并发症和次优的美学结果。个性化预测模拟为这些挑战提供了一个有希望的解决方案。我们提出了一个管道预测计算模型的皮肤生长在组织扩张。在治疗开始时,我们收集3D照片并创建初始有限元(FE)模型。我们的框架考虑了治疗方案、机械性能和生物参数的不确定性。这些不确定性是由外科医生的输入、现有的机械特性文献和先前对猪的生物参数模型的研究得出的。通过在治疗过程中纵向收集三维照片,并通过贝叶斯框架整合数据,我们可以系统地减少预测中的不确定性。使用蒙特卡罗方法对校准的个性化模型进行采样,这需要数千个模型评估。为了克服直接评估有限元模型的计算限制,我们使用高斯过程替代模型。我们期望在不久的将来,这个管道可以用来指导患者的治疗。
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引用次数: 0
Dynamic Rigidity Control for Supportive Sheaths in Endovascular Procedures. 血管内手术中支持鞘的动态刚度控制。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-07-01 DOI: 10.1115/1.4068225
Michael Y Qiu, Vinay Chandrasekaran, Chase M Hartquist, Halle R Lowe, Charles B Suskin, Sheridan Lee, Juan Becerra-Garcia, Jin Vivian Lee, DeVaughn B Rucker, Michelle R Connor, Sophia R Pyeatte, Mohamed S Zaghloul, Santiago Elizondo Benedetto, Eric C Leuthardt, Mohamed A Zayed, Joshua W Osbun, Guy M Genin

Endovascular procedures require sheaths with contradictory mechanical properties: flexibility for navigation through tortuous vessels, yet rigidity for device delivery. Current approaches rely on multiple device exchanges, increasing procedural time, and complication risks. Here we present a novel endovascular sheath design scheme with dynamically controllable flexural rigidity along its entire length. The device incorporates axially aligned metal string arrays between inner and outer lumens, enabling transition between flexible and rigid states through suction actuation. Three-point bend testing demonstrated that actuation increases flexural rigidity from the range associated with diagnostic catheters to that associated with support sheaths. In simulated contralateral access procedures, the device reduced access time to 1/3 of the time required when using conventional approaches. in vivo porcine studies validated the sheath's ability to navigate tortuous anatomy in its flexible state and successfully support advancement of increasingly rigid therapeutic devices when actuated. Technology enables single-sheath delivery of treatment, potentially reducing procedural complexity, decreasing complication rates, and improving patient outcomes across various endovascular interventions. This design represents a promising approach to combining catheter and sheath design that benefits both peripheral and neurovascular procedures.

血管内手术要求鞘具有矛盾的机械特性:在弯曲血管中导航的灵活性,以及设备输送的刚性。目前的方法依赖于多个设备交换,增加了手术时间和并发症风险。在这里,我们提出了一种新的血管内鞘设计方案,具有沿其整个长度动态可控的弯曲刚度。该装置在内外流明之间结合了轴向排列的金属串阵列,通过吸力驱动实现了柔性和刚性状态之间的转换。三点弯曲测试表明,驱动增加了从诊断导管到支撑护套的弯曲刚度。在模拟对侧入路过程中,该装置将入路时间减少到传统方法所需时间的1/3。在猪体内的研究证实了鞘?能够在其灵活状态下导航曲折的解剖结构,并在驱动时成功地支持日益僵化的治疗设备的进步。该技术实现了单鞘输送治疗,潜在地降低了手术复杂性,降低了并发症发生率,并改善了各种血管内干预的患者预后。这种设计代表了一种有前途的方法,将导管和鞘设计结合起来,使周围和神经血管手术都受益。
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引用次数: 0
Experiments and Simulations to Assess Exercise-Induced Pressure Drop Across Aortic Coarctations. 评估运动引起的主动脉缩窄压降的实验和模拟。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-07-01 DOI: 10.1115/1.4068716
Priya J Nair, Emanuele Perra, Doff B McElhinney, Alison L Marsden, Daniel B Ennis, Seraina A Dual

Blood pressure gradient (ΔP) across an aortic coarctation (CoA) is an important measurement to diagnose CoA severity and guide treatment. While invasive cardiac catheterization is the clinical gold-standard for measuring ΔP, it requires anesthesia and does not capture the effects of daily activity or exercise, potentially underestimating the disease's functional burden. This study aimed to identify patients with functionally significant CoA by evaluating exercise-induced ΔP using a hybrid mock circulatory loop (HMCL). Patient-specific aorta geometries (N = 5) of patients with CoA were generated from 4D-Flow magnetic resonance imaging (MRI) scans, then three dimensional (3D)-printed to create compliant aortic phantoms. The phantoms were incorporated into an HMCL with flow and pressure waveforms tuned to patient-specific rest and exercise states. Matched fluid-structure interaction (FSI) simulations were performed using simvascular for comparison. Results showed that mean ΔP increased nonlinearly with cardiac output (CO), with trends differing between patients. HMCL and FSI simulations exhibited excellent agreement in trends of ΔP change with CO, with minimal error of 1.6±1.1 mmHg. This study emphasizes the need for assessing exercise CoA hemodynamics beyond resting ΔP measurements. Overall, HMCLs and FSI simulations enable assessment of patient-specific hemodynamic response to exercise unattainable in clinical practice, thereby facilitating a comprehensive noninvasive assessment of CoA severity. Further, the excellent agreement between HMCL and FSI results indicates that our validated FSI approach can be used independently to assess exercise CoA hemodynamics hereafter, eliminating the need for repeated complex HMCL experiments.

主动脉缩窄(CoA)的血压梯度(ΔP)是诊断CoA严重程度和指导治疗的重要指标。虽然侵入性心导管插入术是测量ΔP的临床金标准,但它需要麻醉,并且不能捕捉到日常活动或运动的影响,可能低估了疾病的功能负担。本研究旨在通过使用混合模拟循环回路(HMCL)评估运动诱导ΔP来识别功能显著的CoA患者。通过4D-Flow磁共振成像(MRI)扫描生成CoA患者的特定主动脉几何形状(N=5),然后3d打印以创建符合要求的主动脉模型。这些幻影被整合到HMCL中,其流量和压力波形被调整为患者特定的休息和运动状态。匹配流固耦合(FSI)模拟使用SimVascular进行比较。结果显示,平均ΔP与心输出量(CO)呈非线性增加,不同患者的趋势不同。HMCL和FSI模拟在ΔP随CO变化的趋势上表现出极好的一致性,误差最小为1.6 +/- 1.1 mmHg。这项研究强调了在静息ΔP测量之外评估运动CoA血流动力学的必要性。总体而言,hmcl和FSI模拟可以评估患者对运动的特异性血流动力学反应,这在临床实践中是无法实现的,从而促进了对CoA严重程度的全面非侵入性评估。此外,HMCL和FSI结果之间的良好一致性表明,我们验证的FSI方法可以独立用于评估运动CoA血流动力学,从而消除了重复复杂的HMCL实验的需要。
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引用次数: 0
Deformation Response of the Human Lamina Cribrosa to Intracranial Pressure Lowering. 人筛板对颅内压降低的变形响应。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-07-01 DOI: 10.1115/1.4068633
Kelly A Clingo, Cameron A Czerpak, Sara Grace Ho, Megha Patel, Crystal Favorito, Anny Zheng, Abhay Moghekar, Harry A Quigley, Thao D Nguyen

The optic nerve head (ONH) is subjected to both intra-ocular pressure (IOP) and intracranial pressure (ICP). The translaminar pressure difference (TLPD) is defined as the difference between IOP and ICP. A change in TLPD, whether from changes in IOP or ICP, could subject the lamina cribrosa (LC) to altered deformation, potentially damaging the axons, activating the mechanosensitive glial cells, and promoting remodeling of the connective tissue structures in the ONH. In this study, we applied spectral domain optical coherence tomography (SD-OCT) and digital volume correlation (DVC) to calculate the deformation response of the LC in 7 eyes of 7 patients with normal pressure hydrocephalus (NPH). Radial SD-OCT scans centered on the ONH were acquired prior to and after therapeutic extended cerebrospinal fluid (CSF) drainage. IOP was measured immediately before imaging, and ICP was measured at the beginning and end of the drainage procedure. The procedure led to a mean ICP decrease of 11.24±1.84 mmHg and a small, nonsignificant mean IOP increase of 0.67±2.56 mmHg. ICP lowering produced a significant Ezz=-0.50%±0.47%, Err=0.53%±0.48%, and Eθz=0.35%±0.21% (p≤0.031). A larger compressive Ezz was associated with a larger ICP decrease (p=0.007). Larger Err, Erθ, maximum principal strain, Emax and maximum shear strain, Smax in the plane of the radial scans were associated with a larger increase in a calculated TLPD change (p≤0.035).

视神经头(ONH)同时受到眼内压(IOP)和颅内压(ICP)的作用,两者在筛板(LC)处的作用方向相反。跨层流压差(TLPD)定义为IOP与ICP之间的差值。TLPD的改变,无论是IOP还是ICP的改变,都可能使LC发生变形改变,潜在地破坏轴突,激活机械敏感的胶质细胞,促进ONH中结缔组织结构的重塑。在本研究中,我们应用光谱域光学相干断层扫描(SD-OCT)和数字体积相关技术计算了7例正常压力性脑积水患者7只眼LC的变形响应。在治疗性延长脑脊液(CSF)引流前后获得以ONH为中心的径向SD-OCT扫描。成像前立即测量IOP,在引流过程开始和结束时测量ICP。该手术导致平均IOP下降11.24±1.84 mmHg,平均IOP小幅升高0.67±2.56 mmHg。降低ICP产生显著的Ezz = -0.50%±0.47%,Err = 0.53%±0.48%,Eqz = 0.35%±0.21% (p≤0.031)。较大的压缩Ezz与较大的ICP下降相关(p = 0.007)。径向扫描平面的Err、Erq、最大主应变Emax和最大剪切应变Smax越大,计算出的TLPD变化越大(p≤0.035)。
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引用次数: 0
Lobar Sliding Reduces Parenchymal Distortion More in the Right Lung Than the Left Lung. 肺叶滑动对右肺实质畸变的影响大于左肺。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-07-01 DOI: 10.1115/1.4068237
Adam E Galloy, Joseph M Reinhardt, Madhavan L Raghavan

Interlobar sliding has long been suspected to help the lungs adapt to changes in thoracic cavity shape by reducing parenchymal distortion. Our previous controlled computational experiment tested the hypothesis that lung lobar sliding reduces parenchymal distortion during breathing, but only the left lung was studied. The goal of this study was to extend this analysis to the right lung which has three lobes and two fissures compared to the left lung's two lobes and single fissure. Finite elastic contact mechanics models of the right lung were used to perform paired subject-specific simulations of lung deformation with and without lobar sliding from end inhale to end exhale at both tidal breathing volumes (n = 8) and breath hold volumes near total lung capacity and functional residual capacity (n = 6). Consistent with the hypothesis, we found that parenchymal distortion, quantified with the spatial mean of the anisotropic deformation index (ADI) throughout each lung model, was lesser in the models with lobar sliding than their nonsliding counterparts (p = 0.008, 13% median difference for tidal breathing and p = 0.03, 19.6% median difference for breath holds). This effect was several times larger than was previously observed in the left lung (p = 0.008, 5.3% median difference for tidal breathing and p = 0.03, 3.2% median difference for breath holds), likely due to the greater number of sliding interfaces in the right lung than the left which better allow the right lung to adapt to the thoracic cavity.

长期以来,人们一直怀疑肺叶间滑动通过减少实质扭曲来帮助肺部适应胸腔形状的变化。我们之前的控制计算实验验证了肺叶滑动减少呼吸时实质扭曲的假设,但只研究了左肺。这项研究的目的是将这种分析扩展到右肺,与左肺相比,右肺有三个肺叶和两个裂隙。S二裂片和单裂。使用右肺的有限弹性接触力学模型进行配对的受试者特异性肺变形模拟,模拟在tidal呼吸量(n = 8)和接近肺活量和功能剩余量(n = 6)的屏气量下,有和没有肺叶从吸气端到呼气端滑动的肺变形。与假设一致,我们发现,各向异性变形指数的空间平均值量化了每个肺模型的实质变形,与非滑动模型相比,大叶滑动模型的差异较小(潮汐呼吸的中位数差异p = 0.008, 13%;屏气的中位数差异p = 0.03, 19.6%)。这种影响比之前在左肺中观察到的要大几倍(潮汐呼吸p = 0.008,中位差为5.3%,屏气p = 0.03,中位差为3.2%),可能是由于右肺比左肺有更多的滑动界面,使右肺更好地适应胸腔。
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引用次数: 0
The 2025 Richard Skalak Award and Editors' Choice Papers. 2025年理查德·斯卡拉克奖和编辑之选论文。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-06-04 DOI: 10.1115/1.4068823
Thao Vicky Nguyen, C Ross Ethier
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引用次数: 0
Design and Validation of a Cable-Driven Joint Actuator for Pediatric Knee Orthoses. 儿童膝关节矫形器缆索驱动关节驱动器的设计与验证。
IF 1.7 4区 医学 Q4 BIOPHYSICS Pub Date : 2025-06-01 DOI: 10.1115/1.4068369
Jason J Wiebrecht, Jacob A Strick, Ryan J Farris, Jerzy T Sawicki

Robot-assisted gait rehabilitation is an increasingly common therapeutic intervention for enhancing locomotion and improving quality of life for children with lower-limb mobility impairments. However, there are few systems specifically designed for pediatric use, and those that do exist are largely cumbersome, bulky, and noncustom devices that ultimately reduce therapy effectiveness. This paper introduces the Cable-Driven Joint System (CDJS), a novel approach for pediatric gait rehabilitation that addresses these shortcomings in a lightweight and compact robotic device using the patient's professionally fitted orthosis. The CDJS consists of a 2.1 kg actuation unit that is held by a clinician which delivers assistive torques through a Bowden cable transmission to a 0.3 kg joint mounted to user-custom bracing. This work details an actuator benchtop evaluation, demonstrating a peak torque of 20 N·m, peak velocity of 7.2 rad/s, bandwidth of 9.7 Hz, and a mass moment of inertia of 58.38 kg cm2. An actuator model was developed and evaluated in simulation, showing a strong correlation with the experimental torque data (R-squared = 0.95) and indicating a transmission efficiency of 72%. In-air gait tracking experiments on an emulated subject showed that the CDJS assisted the subject to track a nominal knee trajectory with an average root-mean-squared error of 2.56 deg at a continuous torque of 1.37 N·m. These results suggest that the cable-driven actuator meets the design requirements for use in pediatric gait rehabilitation and is ready for implementation in clinical device trials.

机器人辅助步态康复是一种越来越普遍的治疗干预措施,用于增强运动能力和改善下肢运动障碍儿童的生活质量。然而,很少有专门为儿科使用设计的系统,而那些确实存在的系统大多是笨重、笨重和非定制的设备,最终降低了治疗效果。本文介绍了缆索驱动关节系统(CDJS),这是一种儿科步态康复的新方法,它解决了使用患者安装的矫形器的轻质紧凑机器人设备的这些缺点。CDJS包括一个2.1公斤的驱动单元,由临床医生持有,通过鲍登电缆传输将辅助扭矩传递到0.3公斤的关节上,该关节安装在用户定制的支架上。这项工作详细介绍了执行器的台式评估,证明了峰值扭矩为20 Nm,峰值速度为7.2 rad/s,带宽为9.7 Hz,质量惯性矩为58.38 kg·cm2。建立了执行器模型并进行了仿真评估,结果表明该模型与实验扭矩数据具有很强的相关性(r²= 0.95),传动效率为72%。在仿真被测者的空中步态跟踪实验中,CDJS辅助被测者在1.37 Nm的连续转矩下跟踪一个标称的膝关节轨迹,平均均方根误差为2.56°。这些结果表明,该缆索驱动驱动器满足儿童步态康复的设计要求,并准备进行临床设备试验。
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引用次数: 0
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