自动化学报2016，Vol.42Issue(12)：1780-1793,14.DOI:10.16383/j.aas.2016.y000007
面向人机融合的智能动力下肢假肢研究现状与挑战
Recent Progress and Challenges of Robotic Lower-limb Prostheses for Human-robot Integration
摘要
Abstract
Robotic lower-limb prosthesis plays an increasingly important role in amputees0 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.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Key words
Powered lower-limb prosthesis/human-robot integration/locomotion intent recognition/sensory substitution引用本文复制引用
王启宁,郑恩昊,陈保君,麦金耿..面向人机融合的智能动力下肢假肢研究现状与挑战[J].自动化学报,2016,42(12):1780-1793,14.基金项目
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Supported by the National Program for Support of Top-notch Young Professionals, National Natural Science Foun-dation of China (61005082,61020106005,61533001), Beijing Municipal Science and Technology Project (Z151100003715001, Z151100000915073) （61005082,61020106005,61533001）
