Design and Validation of a Cable-Driven Asymmetric Back Exosuit
Design and Validation of a Cable-Driven Asymmetric Back Exosuit
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DOI：
10.1109/tro.2021.3112280
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发表时间：
2021-10-04
影响因子：
7.8
通讯作者：
Young, Aaron J.
中科院分区：
文献类型：
--
作者：
Li, Jared M.;Molinaro, Dean D.;Young, Aaron J.
在美国，由重复举重引起的腰椎损伤是最普遍的工作场所伤害。虽然这些损伤都是由对称和不对称举举引起的，但不对称举举通常更具破坏性。许多背部设备没有解决不对称问题，因此我们提出了一种新的系统，称为不对称背部Exosuit （ABX）。ABX通过独特的几何设计和主动电缆驱动驱动解决了这一重要问题。该套装允许用户在大范围的腰椎运动轨迹中移动，而“X”型电缆路由允许这些轨迹的可变辅助应用。我们还在OpenSim中进行了生物力学分析，将辅助电缆力映射到给定轨迹的有效腰椎扭矩辅助，从而允许在复杂的运动链上在腰椎关节空间设计直观的控制器，以适应不同的提升技术。人体实验表明，在对称和不对称举重时，与不穿外骨骼服的举重相比，ABX平均分别减少了37.8%和16.0%的腰竖肌脊柱肌激活。这一结果表明我们的设备有可能降低腰椎损伤的风险。
Lumbar spine injuries caused by repetitive lifting rank as the most prevalent workplace injury in the United States. While these injuries are caused by both symmetric and asymmetric lifting, asymmetric is often more damaging. Many back devices do not address asymmetry, so we present a new system called the Asymmetric Back Exosuit (ABX). The ABX addresses this important gap through unique design geometry and active cable-driven actuation. The suit allows the user to move in a wide range of lumbar trajectories while the "X" pattern cable routing allows variable assistance application for these trajectories. We also conducted a biomechanical analysis in OpenSim to map assistive cable force to effective lumbar torque assistance for a given trajectory, allowing for intuitive controller design in the lumbar joint space over the complex kinematic chain for varying lifting techniques. Human subject experiments illustrated that the ABX reduced lumbar erector spinae muscle activation during symmetric and asymmetric lifting by an average of 37.8% and 16.0%, respectively, compared to lifting without the exosuit. This result indicates the potential for our device to reduce lumbar injury risk.