Extended Evolutionary Fast Learn-to-Walk Approach for Four-Legged Robots

Robot locomotion is an active research area. In this paper we focus on the locomotion of quadruped robots. An effective walking gait of quadruped robots is mainly concerned with two key aspects, namely speed and stability. The large search space of potential parameter settings for leg joints means that hand tuning is not feasible in general. As a result walking parameters are typically determined using machine learning techniques. A major shortcoming of using machine learning techniques is the significant wear and tear of robots since many parameter combinations need to be evaluated before an optimal solution is found.This paper proposes a direct walking gait learning approach, which is specifically designed to reduce wear and tear of robot motors, joints and other hardware. In essence we provide an effective learning mechanism that leads to a solution in a faster convergence time than previous algorithms. The results demonstrate that the new learning algorithm obtains a faster convergence to the best solutions in a short run. This approach is significant in obtaining faster walking gaits which will be useful for a wide range of applications where speed and stability are important. Future work will extend our methods so that the faster convergence algorithm can be applied to a two legged humanoid and lead to less wear and tear whilst still developing a fast and stable gait.     

太极拳运动对老年人步态稳定性的影响

目的:本实验通过对比老年人参加太极拳锻炼后的步态学参数的变化,旨在探究太极拳运动对老年人步态稳定性的影响。方法:(1)研究对象:选取40名社区老年人为研究对象。其中练习太极拳两年以上者20人为实验组(练习内容均为简化二十四式太极拳),其中男女各10名;未曾练习太极拳而且未参加其他项目锻炼者20名为对照组,其中男女各10名。(2)测试方法:采用BIODEX步态训练仪对两组不同老年人进行步态测试。实验数据采用SPSS13.0统计软件进行处理,以P<0.05为有显著性差异,P<0.01为有非常显著性差异。结果:随着年龄的增长,老年人的步态稳定性逐渐下降,同年龄段的老年人女性的步态稳定性优于男性老年人,男性老年人步长大于女性老年人。女性老年人的左脚功能明显优于男性老年人左脚功能。长期参加太极拳锻炼的老年人步态稳定性明显提高,在步速一定的情况下,通过加大步长,降低步频提高了步态的稳定性。结论:太极拳锻炼对促进老年人步态稳定提高平衡能力有显著效果,经常参加太极拳锻炼有助于老年人下肢功能的维持,应大力开展老年人太极拳锻炼。     

Gait Study and Pattern Generation of a Starfish-Like Soft Robot with Flexible Rays Actuated by SMAs

This paper presents the design and development of a starfish-like soft robot with flexible rays and the implementation of multi-gait locomotion using Shape Memory Alloy （SMA） actuators. The design principle was inspired by the starfish, which possesses a remarkable symmetrical structure and soft internal skeleton. A soft robot body was constructed by using 3D printing technology. A kinematic model of the SMA spring was built and developed for motion control according to displacement and force requirements. The locomotion inspired from starfish was applied to the implementation of the multi-ray robot through the flexible actuation induced multi-gait movements in various environments. By virtue of the proposed ray control patterns in gait transition, the soft robot was able to cross over an obstacle approximately twice of its body height. Results also showed that the speed of the soft robot was 6.5 times faster on sand than on a clammy rough terrain. These experiments demonstrated that the bionic soft robot with flexible rays actuated by SMAs and multi-gait locomotion in proposed patterns can perform successfully and smoothly in various terrains.     

Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.     

感觉统合训练结合常规康复训练对痉挛型脑瘫患儿平衡控制及运动功能的影响

目的:探讨感觉统合训练结合常规康复训练对痉挛型脑瘫患儿平衡控制及运动功能的影响。方法:选取2016年1月到2017年12月期间成都市妇女儿童中心医院康复科收治的痉挛型脑瘫患儿80例为研究对象,根据随机数字表法将80例患儿分为对照组(40例)和观察组(40例)。对照组患儿采用常规康复训练进行治疗,观察组患儿采用感觉统合训练结合常规康复训练进行治疗。比较两组脑瘫患儿的平衡控制功能、步态、粗大运动功能测试量表-88(GMFM-88)D区和E区的评分。结果:治疗3个月后两组患儿的Rivermead活动指数、Berg平衡量表得分均明显升高,且观察组患儿的Rivermead活动指数、Berg平衡量表得分高于对照组(P0.05)。治疗3个月后两组患儿的步行足长、步速明显增加,步宽明显减小(P0.05),且观察组患儿步行足长、步速大于对照组,步宽小于对照组(P0.05)。治疗3个月后两组患儿的GMFM-88 D区、GMFM-88 E区得分均分别明显升高(P0.05),且观察组患儿的GMFM-88 D区、GMFM-88 E区得分均分别高于对照组(P0.05)。结论:感觉统合训练结合常规康复训练可有效改善痉挛型脑瘫患儿的平衡控制功能、步态以及粗大运动功能。     

手足温针灸联合步行阶梯训练对老年糖尿病周围神经病变患者步态异常、血流动力学和感觉及运动神经传导的影响

摘要 目的：观察手足温针灸联合步行阶梯训练对老年糖尿病周围神经病变（DPN）患者步态异常、血流动力学和感觉及运动神经传导的影响。方法：按照随机数字表法将上海市第六人民医院2020年3月~2022年1月期间收治的119例老年DPN患者分为对照组（n=59,步行阶梯训练）和研究组（n=60,手足温针灸联合步行阶梯训练）。对比两组疗效、步态异常、血流动力学、临床症状改善情况和感觉及运动神经传导变化情况。结果：研究组91.67%的临床总有效率高于对照组72.88%（P<0.05）。研究组干预后的密歇根糖尿病神经病变评分（MDNS）和多伦多临床评分系统（TCSS）评分低于对照组（P<0.05）。研究组干预后的腓总神经及胫神经的感觉神经传导速度（SNCV）、运动神经传导速度（MNCV）高于对照组（P<0.05）。研究组干预后的全血黏度、血浆比黏度、纤维蛋白原低于对照组（P<0.05）。研究组足底压力中心轨迹（COP）曲线异常、全足平衡性曲线异常、全足压力变化曲线异常例数少于对照组（P<0.05）。结论：手足温针灸联合步行阶梯训练可促进老年DPN患者步态异常、血流动力学和感觉及运动神经传导恢复,疗效较好。     

直接前方入路与直接外侧入路人工全髋关节置换术的临床效果比较研究

目的:探讨平卧位直接前方入路(DAA)与侧卧位直接外侧入路(DLA)对行初次全髋关节置换术(THA)患者髋关节功能、平衡功能和步态参数的影响。方法:选取2018年2月～2019年10月期间我院收治的初次THA患者97例,根据入路方式的不同随机分为A组(n=47)和B组(n=50),A组行侧卧位DLA,B组行平卧位DAA,比较两组髋关节功能、影像学参数、平衡功能和步态参数,记录两组术后并发症发生率。结果:术后1周、1个月、3个月及6个月两组髋关节Harris评分(HHS)、Berg平衡量表评分(BBS)依次升高,且B组高于A组(P0.05)。B组手术时间长于A组,术中出血量少于A组,切口长度、初次下床行走时间短于A组(P0.05)。术后3个月、6个月两组步频、步速、步长依次升高,且B组高于A组(P0.05)。两组并发症发生率对比,组间比较未见统计学差异(P0.05)。两组术后6个月髋臼假体外展角、前倾角对比,组间比较无显著差异(P0.05)。结论:与侧卧位DLA相比,初次THA患者行平卧位DAA可获得与其相当的手术效果,同时能更好地改善患者髋关节功能、平衡功能和步态,且安全性有保障。     

Trot Gait Design and CPG Method for a Quadruped Robot

Developing efficient walking gaits for quadruped robots has intrigued investigators for years. Trot gait, as a fast locomotion gait, has been widely used in robot control. This paper follows the idea of the six determinants of gait and designs a trot gait for a parallel-leg quadruped robot, Baby Elephant. The walking period and step length are set as constants to maintain a relatively fast speed while changing different foot trajectories to test walking quality. Experiments show that kicking leg back improves body stability. Then, a steady and smooth trot gait is designed. Furthermore, inspired by Central Pattern Generators （CPG）, a series CPG model is proposed to achieve robust and dynamic trot gait. It is generally believed that CPG is capable of producing rhythmic movements, such as swimming, walking, and flying, even when isolated from brain and sensory inputs. The proposed CPG model, inspired by the series concept, can automatically learn the previous well-designed trot gait and reproduce it, and has the ability to change its walking frequency online as well. Experiments are done in real world to verify this method.     

膝骨性关节炎患者登梯时下肢肌肉活动和膝关节负荷的分析

目的:分析膝骨性关节炎患者(KOA)登梯时下肢肌群肌电活动与关节角冲量与正常人的差异,为康复方案设计提供生物力学参考。方法:采用Qualisys三维运动分析系统以及Delsys无线表面肌电系统对招募10名符合纳排标准的膝骨性关节炎患者和10名正常人进行登梯活动的步态检测,采用下肢肌群均方根值、股内外侧肌协同收缩比值、股二头肌和股外侧肌共同活动比值和髋、膝关节在冠状面和矢状面上角冲量对比分析与两组登梯时下肢肌群收缩模式对关节负荷的影响。结果:与正常对照相比,上梯时膝骨性关节炎患者股直肌均方根值RMS(Root Mean Square)增大(P0.05),膝骨性关节炎患者股内外侧肌收缩均方根值比值(RMS(Vastus Medialis)VM/(Vastus Lateralis)VL)减小(P0.05),膝骨性关节炎患者腘绳肌与股外侧肌收缩比值(RMS(Biceps Femoris)BF/VL增大(P0.05)。下梯时,膝骨性关节炎患者股直肌均方根值(RMS)增大(P0.05),臀大肌均方根值(RMS)减小(P0.05),股内外侧肌收缩均方根比值(RMS VM/VL)减小(P0.05)。上梯时,膝骨性关节炎患者髋、膝关节冠状面上的关节角冲量大于正常人(P0.05),膝关节在矢状面上关节角冲量大于正常组(P0.05),下梯髋、膝关节冠状面、矢状面上的角冲量无统计学差异(P0.05)。KOA组VM/VL、BF/VL与膝关节在冠状面和矢状面上的角冲量的改变没有直接的相关性(P0.05)。结论:膝骨性关节炎患者在登梯活动时股直肌的收缩活动增加,股内外侧肌的协同收缩下降,主动肌与拮抗肌的共同收缩增加,膝骨性关节炎患者在面对登梯活动时下肢肌群选择性激活和高激活状态协调一致,促进关节稳定。虽然下肢神经肌肉的收缩模式和膝关节负荷之间没有直接的相关性,可能是对膝关节负荷产生影响的生物力学因素较多,神经肌肉的收缩模式只是部分影响因素,后续将增加其他生物力学因素进一步研究。     

行走模式对人体下肢三维步态、肌电信号的影响*

目的:揭示人体在主动和被动两种行走模式下的步态特征与下肢主要肌群的肌电信号变化规律。方法:选取12名在校男大学生,通过Greenjog履带式自发力跑台和h/p/cosmos电动跑台建立主动式和被动式行走模型,先后在两种模式下以3种递增速度即慢速(2 km/h)、常速(4 km/h)、和快速(6 km/h)进行一次性步行运动,运用三维运动捕捉分析系统和表面肌电测试仪,分别对每种速度采集2 min的连续三维步态和肌电信号数据。结果:慢速时,被动式行走的支撑相占比显著高于主动式行走(P＜0.05),而摆动相占比和膝关节角度变化值则显著低于主动式行走(P＜0.05);常速时,被动式行走的膝关节角度变化值和股二头肌积分肌电值显著低于主动式行走(P＜0.05);快速时,被动式行走的膝关节、踝关节角度变化值和股二头肌积分肌电值显著低于主动式行走(P＜0.01);此外,随着步行速度的增加,被动式行走的胫骨前肌积分肌电值呈现显著增高的趋势(P＜0.05)。结论:随着步行速度的增加,人体主动步行时的膝关节活动范围更充分,对主动肌的锻炼作用更明显。