基于人在环优化的按需辅助髋部外骨骼控制用于步态不对称矫正
Assist-as-needed Hip Exoskeleton Control for Gait Asymmetry Correction via Human-in-the-loop Optimization
AI总结：
针对中风患者步态不对称矫正中按需辅助控制研究不足、人机控权分配难的问题，提出结合人在环优化的AAN髋部外骨骼控制方法，通过考虑自然运动变异性的目标函数个体化调参，经实验验证了其可行性及提升主动参与度的效果。
摘要：
步态不对称是大多数中风幸存者所患偏瘫步态的显著临床特征，会导致活动能力受限，并对其生活质量产生长期负面影响。尽管目前已开发出多种用于机器人辅助步态康复的外骨骼控制方法，但很少有研究遵循按需辅助（assist-as-need, AAN）原则来矫正中风患者的步态不对称，且如何在具有部分运动控制能力的中风患者与外骨骼之间合理分配控制权仍是一项挑战。针对这一问题，本文提出一种结合人在环优化的AAN髋部外骨骼控制方法，用于矫正中风患者的步态不对称。为实现AAN理念，本文设计了一个目标函数用于实时评估受试者的步态表现和主动参与度，该函数考虑了人类自然运动的变异性，并可针对个体受试者在线调整控制参数。通过这种方式，患者被激励尽可能多地主动参与运动，从而最大化中风后步态康复的效率和效果。最后，本研究在有人工步态障碍的健康受试者上开展了实验，验证了所提出的AAN控制方法的可行性与有效性，首次从生物力学角度验证了“AAN控制可提升人类主动参与度”这一普遍假设。
英文摘要：
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls have been developed for robot-assisted gait rehabilitation, little attention has been paid to correcting the gait asymmetry of stroke patients following the assist-as-need (AAN) principle, and it is still challenging to properly share control between the exoskeleton and stroke patients with partial motor control. In view of this, this article proposes an AAN hip exoskeleton control with human-in-the-loop optimization to correct gait asymmetry in stroke patients. To realize the AAN concept, an objective function was designed for real-time evaluation of the subject's gait performance and active participation, which considers the variability of natural human movement and guides the online tuning of control parameters on a subject-specific basis. In this way, patients were stimulated to contribute as much as possible to movement, thus maximizing the efficiency and outcomes of post-stroke gait rehabilitation. Finally, an experimental study was conducted to verify the feasibility and effectiveness of the proposed AAN control on healthy subjects with artificial gait impairment. For the first time, the common hypothesis that AAN controls can improve human active participation was validated from the biomechanics viewpoint.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
