基于锥规划重建的运动关节康复外骨骼定制设计

屠正欣,徐敬华,张树有

Rehabilitation exoskeleton customized design of kinematic joint based on cone programming reconstruction

Zhengxin TU,Jinghua XU,Shuyou ZHANG

表 1 不同方法重建的左膝关节运动姿态迭代过程均方根误差对比

Tab.1 Comparison of root mean square error in iterative processes of left knee joint motion posture reconstruction with different methods mm

$ \theta $/(°) 表面匹配 分层匹配 锥规划重建 RMSEMAX RMSEMIN $ \overline {{\text{RMSE}}} $ RMSEMAX RMSEMIN $ \overline {{\text{RMSE}}} $ RMSEMAX RMSEMIN $ \overline {{\text{RMSE}}} $ 4.83 23.37 5.01 8.82 21.34 3.77 8.38 21.61 3.42 8.88 25.55 20.96 5.24 9.53 22.80 4.02 8.30 22.59 3.62 8.29 47.59 20.64 5.29 11.02 22.48 3.40 8.96 21.44 3.03 8.52 69.24 22.40 6.10 10.02 23.31 4.38 8.25 23.39 3.90 8.65 94.40 23.37 5.01 8.82 21.34 3.77 8.38 21.61 3.42 8.88 116.35 24.46 5.20 9.33 23.52 3.09 9.24 21.68 3.50 9.16