Generating Electricity During Locomotion Modes Dominated by Negative Work via a Knee Energy-Harvesting Exoskeleton
Generating Electricity During Locomotion Modes Dominated by Negative Work via a Knee Energy-Harvesting Exoskeleton
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DOI：
10.1109/tmech.2022.3157848
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发表时间：
2022-12
期刊：
影响因子：
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通讯作者：
Xin Wu;Wujing Cao;Hongliu Yu;Zhewen Zhang;Yuquan Leng;Mingming Zhang
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文献类型：
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作者：
Xin Wu;Wujing Cao;Hongliu Yu;Zhewen Zhang;Yuquan Leng;Mingming Zhang
通过人体运动发电的能力可以减少可穿戴设备对电池的需求。可穿戴式能量采集器面临的关键挑战是在不干扰穿戴者的情况下产生足够的能量。据我们所知，目前可用的关节运动能量采集器都是水平行走（LW）。在这项研究中，我们开发了一种能量收集外骨骼，可以在没有传感器的情况下在LW，下坡行走（DW）和楼梯下降（SD）时发电。通过单向轴承和合适的齿轮系，将发电机的双向膝关节运动转化为单向旋转。平均发电的每条腿行走是5.4美元的三种模式\ pm 0.8 {\ rm {\ W \}}({\文本{LW} \ 5 rm{\公里}}{\ / \ mathrm {h}}),美元6.5美元\ pm 0.6 {\ rm {W \}}({\文本{DW} \ 5 rm{\公里}}{\ / \ mathrm {h}}),美元和8.2美元\ pm 0.4 {\ rm {W \}} ({{SD} \文本,4 rm{\楼梯}}{\ / \ mathrm{年代}})美元,分别。有外显和无外显条件下膝关节角的Pearson系数分别为0.995 （LW）、0.996 （DW）和0.999 （SD）。收获成本分别为- 0.006 （LW）和- 0.01 （DW）。与无外源条件相比，该条件下能量收集代谢率的增加仅为2.3% （LW）和1.6% （DW）。发电时代谢成本没有显著增加$（P\ = \ 0.363,$ LW; $P\ = \ 0.662,$ DW）。总之，本研究开发的膝关节能量收集外骨骼可以产生大量和可持续的电力，几乎不需要额外的努力，这表明它有潜力成为充电供电的便携式外骨骼和假肢的一种手段。
The capability to generate electricity from human motion can reduce the battery requirements for wearable devices. The key challenge faced by wearable energy harvesters is the generation of sufficient power without interfering with the wearer. To our knowledge, currently available joint-motion energy harvesters are all for level walking (LW). In this study, we developed an energy-harvesting exoskeleton that can generate electricity during LW, downhill walking (DW), and stair descent (SD) without sensors. Bi-directional knee motion is transformed to the unidirectional rotation of the generator by one-way bearing and appropriate gear train. The average electricity generated by each leg for the three modes of walking is $5.4 \pm 0.8{\rm{\ W\ }}({\text{LW},\ 5{\rm{\ km}}/\mathrm{h}})$, $6.5 \pm 0.6{\rm{W\ }}({\text{DW},\ 5{\rm{\ km}}/\mathrm{h}})$, and $8.2 \pm 0.4{\rm{W\ }}({\text{SD},4{\rm{\ stairs}}/\mathrm{s}})$, respectively. The Pearson coefficients of the knee angle under exo-on and no-exo conditions are 0.995 (LW), 0.996 (DW), and 0.999 (SD), respectively. The cost of harvesting is −0.006 (LW) and −0.01 (DW). The increase in the metabolic rate in energy harvesting on condition is merely 2.3% (LW) and 1.6% (DW) compared to the no-exo condition. There is no significant increase in the metabolic cost while generating electricity $(P\ = \ 0.363,$ LW; $P\ = \ 0.662,$ DW). In summary, the knee energy-harvesting exoskeleton developed in this study can generate substantial and sustainable electricity with little extra effort, which indicates its potential as a means to charge-powered portable exoskeletons and prosthetics.