标题： 面向多样化障碍场景的下肢假肢环境感知与人机协作摆动控制 显示英文标题

标题： Environment-Aware and Human-Cooperative Swing Control for Lower-Limb Prostheses in Diverse Obstacle Scenarios

摘要： 当前用于动力下肢假肢的控制策略通常缺乏对环境和用户与其交互意图的认知。 这种限制在复杂地形中尤为明显。 障碍物协商是一个关键场景，体现了这些挑战，它需要实时感知障碍物的几何形状，并对用户何时以及在何处跨过或踩上障碍物的意图作出响应，以动态调整摆动轨迹。 我们提出了一种融合环境意识和人类协作的新控制策略：机载深度摄像头在摆动阶段前检测障碍物，提示提高早期摆动轨迹以确保通过，而晚期摆动控制则依赖于用户自然的生物力学线索。 这种方法使步态策略更加直观，而无需要求不自然的运动模式。 三项非截肢参与者的实验表明，在随机放置的不同高度（4-16厘米）和距离（15-70厘米）的障碍物上进行超过150次跨过和30次踩上的测试中，成功率达到了100%。 通过有效解决障碍物导航这一复杂地形移动的关键挑战，我们的系统展示了对环境约束和用户意图的适应能力，在多种行走场景中具有广阔的应用前景。 显示英文摘要

摘要： Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a critical scenario exemplifying such challenges, requires both real-time perception of obstacle geometry and responsiveness to user intention about when and where to step over or onto, to dynamically adjust swing trajectories. We propose a novel control strategy that fuses environmental awareness and human cooperativeness: an on-board depth camera detects obstacles ahead of swing phase, prompting an elevated early-swing trajectory to ensure clearance, while late-swing control defers to natural biomechanical cues from the user. This approach enables intuitive stepping strategies without requiring unnatural movement patterns. Experiments with three non-amputee participants demonstrated 100 percent success across more than 150 step-overs and 30 step-ons with randomly placed obstacles of varying heights (4-16 cm) and distances (15-70 cm). By effectively addressing obstacle navigation -- a gateway challenge for complex terrain mobility -- our system demonstrates adaptability to both environmental constraints and user intentions, with promising applications across diverse locomotion scenarios.