Tu Zhengxin, Xu Jinghua, Dong Zhenyu, Zhang Shuyou, Tan Jianrong
Institute of Design Engineering, Zhejiang University, Hangzhou, 310058, China.
State Key Lab of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310058, China.
Med Biol Eng Comput. 2025 Mar;63(3):807-822. doi: 10.1007/s11517-024-03234-5. Epub 2024 Nov 6.
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.
本文提出了一种基于运动步态重建（KGR）的定制外骨骼设计的承重优化方法。对于急性关节损伤患者，通过计算机视觉获取运动步态已不再可行。考虑到这一点，可以从受伤部位的CT（计算机断层扫描）或MRI（磁共振成像）进行三维重建，以生成关节咬合的微观形态。创新的是，通过半定计算的表面形貌匹配，可以将分离的实体注册为一个整体，通过重建连续的运动骨骼屈曲姿势进一步实现KGR。为了验证重建运动步态的有效性，通过赫兹接触理论进行了有限元分析（FEA）。以下肢外骨骼为验证实例，可以将杆长比和角旋转范围设置为设计考虑因素，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有助于提供一种优化承重能力的设计范式，在此基础上，可以仅从医学图像设计符合人体工程学的定制外骨骼，从而使其更适合大量康复人群。
