Wang Wanxiang, He Yong, Li Feng, Li Jinke, Liu Jingshuai, Wu Xinyu
Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.
University of Chinese Academy of Sciences, Beijing, China.
Technol Health Care. 2023;31(1):103-115. doi: 10.3233/THC-220087.
The digital twin concept is the virtual model based on entity design measures, which is used in many enterprises' virtual workshop design models for workshop production scheduling and optimization. However, in the field of medical rehabilitation, the integration of digital twin technology started late compared to traditional industrial manufacturing. Many current digital models are not well suited for information interaction between patients and devices.
In order to address the lack of interaction between patients and devices in the field of medical rehabilitation, this paper proposes an automatic gait data control system (AGDCS) for fully actuated lower limb exoskeleton digital twinning. This system improves the integration of digital twinning system with the medical rehabilitation field and analyzes the patient's gait data through simulation experiments.
The digital twin system was designed in several steps. Firstly, the upper computer function module was designed and developed according to the rehabilitation treatment needs. After that, the combination of exoskeleton robot and software was carried out, and finally the real rehabilitation treatment environment of patients was simulated through experiments.
The proposed system was very reliable in the experimental tests of the host computer and exoskeleton robot. In the upper computer test, the patient specific gait can be generated, and the motion of the exoskeleton robot can be observed in real-time. During the walking test of the exoskeleton robot, the exoskeleton robot completed the specified gait. The result verified the superiority and effectiveness of the digital twin system AGDCS in the field of rehabilitation.
The digital twin system proposed in this paper improves the interaction between self-balancing exoskeleton robot and patients, and improves the autonomy and safety of patients in rehabilitation treatment.
数字孪生概念是基于实体设计措施的虚拟模型，用于许多企业的虚拟车间设计模型中，以进行车间生产调度和优化。然而，在医疗康复领域，与传统工业制造相比，数字孪生技术的整合起步较晚。当前许多数字模型不太适合患者与设备之间的信息交互。
为了解决医疗康复领域患者与设备之间缺乏交互的问题，本文提出一种用于全驱动下肢外骨骼数字孪生的自动步态数据控制系统（AGDCS）。该系统改善了数字孪生系统与医疗康复领域的整合，并通过模拟实验分析患者的步态数据。
数字孪生系统分几步进行设计。首先，根据康复治疗需求设计并开发上位机功能模块。之后，将外骨骼机器人与软件进行结合，最后通过实验模拟患者的实际康复治疗环境。
所提出的系统在主机和外骨骼机器人的实验测试中非常可靠。在上位机测试中，可以生成患者特定的步态，并实时观察外骨骼机器人的运动。在外骨骼机器人的行走测试中，外骨骼机器人完成了指定的步态。结果验证了数字孪生系统AGDCS在康复领域的优越性和有效性。
本文提出的数字孪生系统改善了自平衡外骨骼机器人与患者之间的交互，并提高了患者康复治疗的自主性和安全性。
