A quasi-passive leg exoskeleton for load-carrying augmentation
A quasi-passive leg exoskeleton for load-carrying augmentation
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DOI：
10.1142/s0219843607001126
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发表时间：
2007-09-01
影响因子：
1.5
通讯作者：
Herr, Hugh
中科院分区：
文献类型：
--
作者：
Walsh, Conor James;Endo, Ken;Herr, Hugh
提出了一种用于步行过程中承载增强的准被动腿部外骨骼。外骨骼没有驱动器，只有脚踝和臀部的弹簧和膝盖可变阻尼器。在没有有效载荷的情况下，外骨骼重11.7公斤，在负重行走期间仅需要2瓦的电力。对于一个36公斤的有效载荷，我们证明了准被动外骨骼转移平均80%的负载到地面在步行的单支撑阶段。通过测量以自选速度行走的研究参与者的氧气消耗率，我们发现与标准装载的背包相比，外骨骼略微增加了行走代谢运输成本（COT）（增加10%）。然而，没有关节弹簧或阻尼控制的类似外骨骼（零阻抗外骨骼）与负载背包相比，COT增加了23%，突出了被动和准被动关节机构在设计高效，低质量腿部外骨骼中的优势。
A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variable-damper. Without a payload, the exoskeleton weighs 11.7 kg and requires only 2 Watts of electrical power during loaded walking. For a 36 kg payload, we demonstrate that the quasi-passive exoskeleton transfers on average 80% of the load to the ground during the single support phase of walking. By measuring the rate of oxygen consumption on a study participant walking at a self-selected speed, we find that the exoskeleton slightly increases the walking metabolic cost of transport ( COT) as compared to a standard loaded backpack (10% increase). However, a similar exoskeleton without joint springs or damping control ( zero-impedance exoskeleton) is found to increase COT by 23% compared to the loaded backpack, highlighting the benefits of passive and quasi-passive joint mechanisms in the design of efficient, low-mass leg exoskeletons.