人体关节仿生建模及其在康复工程中应用

报告题目：人体关节仿生建模及其在康复工程中应用

报告时间：2025年5月12日下午13:30

报告人：Vincenzo Parenti Castelli 意⼤利博洛尼亚⼤学终身教授 欧盟科学院院⼠

报告地点：先进制造⼤楼1306

报告内容简介：

滑车关节在人类肢体运动中发挥着关键性的作用。本研究基于人体关节个性化特征，构建了膝关节、踝关节运动参数并联机构等效仿真模型和人体小腿运动仿真模型，充分解析关节共轭表面的相对速度、表面接触压力和磨损成都等问题。该系列参数模型构建将为关节假体、假手、康复外骨骼等系统提供坚实的设计基础，其为临床中关节假体置换、康复外骨骼关节驱动优化，以及人形机器人关节仿生设计等提供解决方案。

Diarthrodial joints play a fundamental role in human day life. When injuries or malfunctioning occur, according to their severity the answer is articular prosthesis, prosthetic arms, and rehabilitation devices. Each individual has her/his own physical characteristics, which make difficult to match very accurately with the available devices on the market. This is one of the major causes of malfunctioning and failure of the intervention. In other words, patient specific devices should be necessary to improve the final result. A proper and efficient design of the devices can be done based on mathematical models of the joint and not only on experience and trial and error approach.We present efficient 3D models of the knee and ankle joints and human lower leg as well, which do represent powerful tools to design better prostheses, prosthetic arms, rehabilitation devices and, especially today, based on 3D printing, real patient specific devices. In particular, for instance, the models allow the design of an optimal prosthesis in terms of relative velocity of the conjugate surfaces, surface contact pressure and wear. More specifically, we present the kinematic and kinetostatic models of joints, their validation by an original specific test rig and in vitro experiments. Example of application will be also presented to show the potential of the developed models.