Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton
Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton
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DOI：
10.3389/fnbot.2020.00031
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发表时间：
2020-06-30
影响因子：
3.1
通讯作者：
Ortiz, Jesus
中科院分区：
文献类型：
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作者：
Di Natali, Christian;Sadeghi, Ali;Ortiz, Jesus
国际上对开发柔软的可穿戴机器人设备的兴趣越来越大，以提高移动性和日常生活自主性以及康复目的。这些设备的可用性、舒适性和接受度将影响其在主流日常生活中的使用。XoSoft欧盟项目开发了一种模块化软下肢外骨骼，以帮助行动不便的人。本文提出了一种基于气动准被动驱动的柔性模块化下肢辅助外骨骼的仿生设计。介绍了一种模块化可重构样机的设计及其性能。这种致动集中在主动机械元件上，以调节由传统被动部件（在这种情况下为弹性带）产生的辅助。本研究通过评估健康受试者在行走任务期间的能量结果来评估这种类型的辅助设备的可行性。评估了与基于任务的生物动力辅助和步态运动学变化有关的人-外骨骼交互。由此产生的援助，在总功率比（？）外骨骼和辅助关节之间的平均距离对于髋关节致动为26.6%，对于膝关节为9.3%，对于踝关节为12.6%。在每个关节上提供的释放最大功率为髋关节113.6%，膝关节93.2%，踝关节150.8%。
There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio (?) between the exoskeleton and the assisted joint, was 26.6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle.