考虑具身认知的外骨骼康复训练步态匹配方法

doi:10.3785/j.issn.1008-973X.2025.08.001

浙江大学学报(工学版)

2025, Vol. 59

Issue (8): 1557-1564 DOI: 10.3785/j.issn.1008-973X.2025.08.001

机械工程、能源工程

考虑具身认知的外骨骼康复训练步态匹配方法

高一聪1(

),王悦瑾1,陈意磊2,郑浩3,*(

),谭建荣1

1. 浙江大学流体动力基础件与机电系统全国重点实验室，浙江杭州 310027
2. 浙江大学医学院附属邵逸夫医院，浙江杭州 310016
3. 北京航空航天大学杭州创新研究院，浙江杭州 310056

Gait matching method of rehabilitation training for exoskeleton considering embodied cognition

Yicong GAO1(

),Yuejin WANG1,Yilei CHEN2,Hao ZHENG3,*(

),Jianrong TAN1

1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
2. Sir Run Run Shaw Hospital, Medical College of Zhejiang University, Hangzhou 310016, China
3. Hangzhou Innovation Institute of Beihang University, Hangzhou 310056, China

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摘要：

针对康复训练步态的个性化适配问题，提出考虑具身认知的下肢外骨骼康复训练步态匹配方法. 将身体体验和感官感受作为反馈引入下肢外骨骼步态评价中，构建考虑具身认知的康复训练步态适配评价指标. 利用基于Z-number的模糊语言术语进行康复训练步态的模糊语言评价，通过模糊不确定性下的证据推理方法融合康复训练步态评价置信度，克服了传统方法无法处理非相互独立的康复训练步态评价自然语言术语的局限性，在康复训练过程中快速迭代匹配合适的康复训练步态. 通过实验，验证本文所提方法的正确性.

关键词： 下肢外骨骼; 具身认知; 康复训练步态; Z-number

Abstract:

A lower limb exoskeleton gait matching method based on embodied cognition was proposed in order to address the issue of personalized gait adaptation in rehabilitation training. Bodily experiences and sensory feedback were integrated into gait evaluation, and an evaluation index for gait adaptation that considered embodied cognition was established. Fuzzy language evaluation based on Z-number was used to assess the gaits, and evidence reasoning under fuzzy uncertainty was applied to integrate confidence in the evaluations. Then traditional methods that struggle with the interdependence of natural language in gait evaluation were improved, allowing for rapid iterative matching of suitable gaits during rehabilitation. The validity of the method was verified through experiments.

Key words: lower limb exoskeleton embodied cognition rehabilitation gait Z-number

收稿日期: 2024-07-11 出版日期: 2025-07-28

TP 391

基金资助: 国家自然科学基金资助项目(52375272)；中国博士后科学基金资助项目（2024M751644, 2024M754069）；国家资助博士后研究人员计划资助项目（GZC20241092）；浙江省重点研发计划资助项目（2021C03050）.

通讯作者: 郑浩 E-mail: gaoyicong@zju.edu.cn;haozheng@zjut.edu.cn

作者简介: 高一聪（1982—），男，副教授，博士，从事产品正向设计理论与方法、智能结构创新设计的研究. orcid.org/0000-0002-1987-0431. E-mail：gaoyicong@zju.edu.cn

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引用本文:

高一聪,王悦瑾,陈意磊,郑浩,谭建荣. 考虑具身认知的外骨骼康复训练步态匹配方法[J]. 浙江大学学报(工学版), 2025, 59(8): 1557-1564.

Yicong GAO,Yuejin WANG,Yilei CHEN,Hao ZHENG,Jianrong TAN. Gait matching method of rehabilitation training for exoskeleton considering embodied cognition. Journal of ZheJiang University (Engineering Science), 2025, 59(8): 1557-1564.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.08.001 或 https://www.zjujournals.com/eng/CN/Y2025/V59/I8/1557

表 1 考虑具身认知的下肢外骨骼康复训练步态评价指标

表 2 评价等级语言变量及对应的三角模糊数

表 3 确定度语言变量及对应的三角模糊数

图 1 康复训练步态评价置信度融合与步态匹配度度量的过程

图 2 模糊交集子集的效用度

表 4 实验者和治疗师的模糊评价信息

表 5 期望效用、最大效用和最小效用的三角模糊数

图 3 实验者和康复训练步态各关节轨迹的协同变化关系

表 6 关节协同变化规律的图形相似度

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