Development and testing of a passive Walking Assist Exoskeleton
Development and testing of a passive Walking Assist Exoskeleton
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DOI：
10.1016/j.bbe.2019.01.002
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发表时间：
2019-10-01
影响因子：
6.4
通讯作者：
Doumit, Marc
中科院分区：
文献类型：
--
作者：
Lovrenovic, Zlatko;Doumit, Marc
行走能力也许是衡量移动性和独立性的最常见指标。令人遗憾的是，由于老龄化和/或慢性健康状况，很大一部分人口正在失去流动性。因此，迫切需要建立有助于保持有需要的个人流动性的制度。对于这个日益严重的问题，一个有希望的解决方案是行走辅助外骨骼。目前的装置主要依赖于动力系统，通过在下肢关节周围施加互补扭矩来提供行走辅助。虽然这些外骨骼已经实现了技术突破，但它们并非没有限制。作为回应，被动替代品的开发正在出现，并已证明了简单、成本效益高的设备的潜力。与这一进展相一致，下面的研究提出了一种被动外骨骼的发展，增强了站立和行走过程中的流动性。这是通过无动力座椅机构实现的，该机构在使用者的骨盆上产生向上的力。开发了两个分析模型来预测其行为，通过评估增加机构刚度的效果，以及预测设备运动学及其在整个步态周期中产生的辅助。使用运动捕捉设备和称重传感器制造和测试了一个人类规模的概念原型验证。结果验证了所提出的设计，它提供了一个向上的姿态力之间的9.41%和26.18%的体重为六个级别的弹簧刚度。外骨骼还提供了一个向上的峰值步行力之间的14.02%和27.52%的体重为五个级别的弹簧刚度。(C)2019波兰科学院纳莱茨生物控制学和生物医学工程研究所。Elsevier B. V.出版，保留所有权利。
The ability to walk is perhaps the most common indicator of mobility and independence. Regrettably, a large portion of the population is experiencing a loss in mobility due to aging and/or chronic health conditions. There is thus an urgent need to develop systems that would help preserve mobility for individuals in need. One promising solution to this growing problem is Walking Assist Exoskeletons. Current devices mostly rely on powered systems to provide walk assist by applying complementary torques about lower limb joints. Whereas these exoskeletons have achieved technological breakthroughs, they are not without limitations. In response, developments of passive alternatives are now emerging and have demonstrated the potential for simple, cost-effective devices. Aligned with this progress, the following study proposes the development of a passive exoskeleton that enhances mobility during stance and walking. This is achieved through an unpowered seat mechanism that produces an upward force on the pelvis of the user. Two analytical models are developed to predict its behavior, by evaluating the effect of increasing the stiffness of the mechanism, as well as predicting device kinematics and its resulting assistance throughout a gait cycle. A human-scale proof of concept prototype was fabricated and tested using motion capture equipment and load cells. The results validated the proposed design, which provided an upward stance force between 9.41% and 26.18% of body weight for six levels of spring stiffness. The exoskeleton also provided an upward peak walking force between 14.02% and 27.52% of body weight for five levels of spring stiffness. (C) 2019 Nalecz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences. Published by Elsevier B.V. All rights reserved.