Wearable Knee Assistive Devices for Kneeling Tasks in Construction
Wearable Knee Assistive Devices for Kneeling Tasks in Construction
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DOI：
10.1109/tmech.2021.3081367
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发表时间：
2021-08-01
影响因子：
6.4
通讯作者：
Trkov, Mitja
中科院分区：
文献类型：
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作者：
Chen, Siyu;Stevenson, Duncan T.;Trkov, Mitja
建筑工人经常执行需要跪、爬和蹲的任务。长时间以笨拙的跪姿工作会导致膝盖疼痛、受伤和骨关节炎。在这篇文章中，我们提出了轻量级的，可穿戴的传感和膝关节辅助设备的建筑工人在跪和蹲的任务。跪在水平和倾斜表面上的分析（0.，10.,和20.）is performed执行for singleand double双leg腿kneeling跪tasks任务.来自集成惯性测量单元的测量结果用于实时步态检测和下肢姿态估计。检测到的步态事件和姿态估计用于控制由具有强大的准直接驱动致动的轻质外骨骼提供的辅助膝关节扭矩。人体受试者进行实验，以验证所提出的分析和控制设计的有效性。结果显示，在站立至跪和跪至站立任务期间，膝关节伸展/屈曲肌肉激活减少（高达39%）。在单腿跪姿期间，在机器人辅助下，膝盖-地面接触力/压力也降低（高达15%）。增加辅助膝关节扭矩显示受试者的重量从与地面接触的膝关节到两个支撑脚的重新分配。拟议的系统提供了一个有利的干预措施，以潜在地减少建筑工人的肌肉骨骼损伤的风险。
Construction workers regularly perform tasks that require kneeling, crawling, and squatting. Working in awkward kneeling postures for prolonged time periods can lead to knee pain, injuries, and osteoarthritis. In this article, we present lightweight, wearable sensing, and knee assistive devices for construction workers during kneeling and squatting tasks. Analysis of kneeling on level and sloped surfaces (0., 10., and 20.) is performed for singleand double-leg kneeling tasks. Measurements from the integrated inertial measurement units are used for real-time gait detection and lower limb pose estimation. Detected gait events and pose estimation are used to control the assistive knee joint torque provided by lightweight exoskeletons with powerful quasi-direct drive actuation. Human subject experiments are conducted to validate the effectiveness of the proposed analysis and control design. The results show reduction in knee extension/flexion muscle activation (up to 39%) during stand-to-kneel and kneel-to-stand tasks. Knee-ground contact forces/pressures are also reduced (up to 15%) under robotic assistance during single-leg kneeling. Increasing assistive knee torque shows redistribution of the subject's weight from the knee in contact with the ground to both supporting feet. The proposed system provides an enabling intervention to potentially reduce musculoskeletal injury risks of construction workers.