Soft, Wearable, and Pleated Pneumatic Interference Actuator Provides Knee Extension Torque for Sit-to-Stand.
Soft, Wearable, and Pleated Pneumatic Interference Actuator Provides Knee Extension Torque for Sit-to-Stand.
复制标题
柔软、耐磨、褶皱的气动干涉执行器为坐站提供膝关节伸展扭矩。
DOI：
10.1089/soro.2019.0076
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发表时间：
2020
期刊：
影响因子：
7.9
通讯作者：
H. van der Kooij
中科院分区：
文献类型：
--
作者：
A. J. Veale;K. Staman;H. van der Kooij
软可穿戴执行器可以帮助连接机器和人类，在人与世界之间提供个性化，符合人体工程学和合作的物理界面。到目前为止，这些接口的扭矩有限，限制了它们帮助完全瘫痪的能力。本文提出了一种用于实现柔软结构的方法，该柔软结构稳定且舒适地向身体施加足以进行坐-站（STS）的膝盖伸展扭矩。该结构，折叠气动干扰致动器（PPIA），是基于折叠充气;是轻量级的，可折叠的，和服装集成;并产生扭矩从屈曲的约束织物增强橡胶管。多个PPIA被集成到一个软矫形器，膝关节软提升辅助器（SLAK）。将SLAK充盈至320 kPa的压力，在屈曲角度为82°时产生最大扭矩324 Nm。这超过了STS所需的峰值180 Nm扭矩和其他日常任务所需的扭矩。SLAK符合STS的扭矩要求，当由测试腿佩戴时，其超过STS运动的93%。由人类佩戴，它显示出完全支持的潜力，这是超过100%的运动。PPIA的理论模型高估了低至中等屈曲角度下的扭矩，低估了高屈曲角度下的PPIA扭矩。PPIA的进一步发展将集中在用人类受试者测试SLAK;增加PPIA的速度和灵活性;减少PPIA的体积;以及提高PPIA的模型准确性。
Soft wearable actuators can help connect machines and humans, providing a personalized, ergonomic, and cooperative physical interface between people and their world. Until now, the torque of these interfaces has been limited, restricting their ability to assist the completely paralyzed. This article presents a method for realizing a soft structure that stably and comfortably applies a knee extension torque to the body that is sufficient for sit-to-stand (STS). The structure, the pleated pneumatic interference actuator (PPIA), is based on pleated inflatables; is lightweight, collapsible, and clothing integratable; and generates torque from buckling of a constrained fabric-reinforced rubber tube. Multiple PPIAs were integrated into a soft orthosis, the soft lift assister for the knee (SLAK). The SLAK was inflated to a pressure of 320 kPa, and it produced a maximum 324 Nm torque at a flexion angle of 82°. This exceeds the peak 180 Nm torque required for STS and torques required for other everyday tasks. The SLAK met the torque requirement for STS, which is more than 93% of the STS motion when worn by a test leg. Worn by a human, it shows potential for complete support, which is more than 100% of the motion. The PPIA's theoretical model overestimated torque at low to moderate flexion angles and underestimated PPIA torque at high flexion angles. Further development of the PPIA will focus on testing the SLAK with human subjects; increasing the PPIA's speed and flexibility; reducing the PPIA's bulk; and improving the PPIA's model accuracy.