Modeling and Simulation of an Unpowered Lower Extremity Exoskeleton Based on Gait Energy
Modeling and Simulation of an Unpowered Lower Extremity Exoskeleton Based on Gait Energy
复制标题
基于步态能量的无动力下肢外骨骼建模与仿真
DOI：
10.1155/2020/4670936
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发表时间：
2020-08
影响因子：
--
通讯作者：
Zhao Guoru
中科院分区：
文献类型：
--
作者：
Wang Yongfeng;Kong Xiangzhan;Yang Jing;Li Guanglin;Zhao Guoru
针对传统无动力下肢外骨骼如何高效储存/释放步态能量的问题，提出一种无动力下肢外骨骼。本研究建立了人体运动模型，阐明了步态能量的变化规律和回收/利用机制。基于OpenSim软件获得下肢关节相关肌肉的僵硬度和代谢成本。结果表明，当肌肉向心收缩产生正功时，肌肉的刚度增加，而当肌肉偏心收缩产生负功时，肌肉的刚度则相反。此外，比目鱼肌、腓肠肌和胫骨前肌的代谢消耗分别降低了约31.5%、34.7%和40%。外骨骼条件下，股直肌、阔筋膜张肌和缝匠肌的代谢消耗分别下降约36.3%、7%和5%，身体总代谢消耗下降约15.5%。本研究结果可为无动力下肢外骨骼的优化设计提供理论依据。
Aiming at the problem of how to store/release gait energy with high efficiency for the conventional unpowered lower extremity exoskeletons, an unpowered lower-limb exoskeleton is proposed. In the current study, the human motion model is established, and the change rule and recovery/utilization mechanism of gait energy are illustrated. The stiffness and metabolic cost of relevant muscles in lower extremity joints are obtained based on OpenSim software. The results show that stiffness of muscle is increased when muscle concentric contraction generates positive work, but it is reverse when muscle eccentric contraction generates negative work. Besides, metabolic cost of the soleus, gastrocnemius, and tibialis anterior decreased about 31.5%, 34.7%, and 40%, respectively. Metabolic cost of the rectus femoris, tensor fascia lata, and sartorius decreased about 36.3%, 7%, and 5%, respectively, and the total metabolic cost of body decreased about 15.5%, under the exoskeleton conditions. The results of this study can provide a theoretical basis for the optimal design of unpowered lower extremity exoskeleton.
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使用未经动荡的外骨骼降低人行走的能源成本。
影响因子：
64.8
作者：
Collins, Steven H.;Wiggin, M. Bruce;Sawicki, Gregory S.
通讯作者：
Sawicki, Gregory S.
DOI：
10.1145/2910674.2935827
发表时间：
2016-06
期刊：
Proceedings of the 9th ACM International Conference on PErvasive Technologies Related to Assistive Environments
影响因子：
--
作者：
Valerie Power;L. O’Sullivan;A. D. Eyto;S. Schülein;C. Nikamp;C. Bauer;Jeannette Mueller;J. Ortiz
通讯作者：
Valerie Power;L. O’Sullivan;A. D. Eyto;S. Schülein;C. Nikamp;C. Bauer;Jeannette Mueller;J. Ortiz
影响因子：
--
作者：
CAVAGNA, GA;HEGLUND, NC;TAYLOR, CR
通讯作者：
TAYLOR, CR
DOI：
10.1007/s12541-019-00169-y
发表时间：
2019-09
影响因子：
1.9
作者：
Seungjun Lee;Sanghee Lee;Youngjin Na;B. Ahn;Hoeryong Jung;Shing Shin Cheng;Namkeun Kim;T. Jun;Yeongjin Kim
通讯作者：
Seungjun Lee;Sanghee Lee;Youngjin Na;B. Ahn;Hoeryong Jung;Shing Shin Cheng;Namkeun Kim;T. Jun;Yeongjin Kim
影响因子：
5.7
作者：
van Dijk, Wietse;van der Kooij, Herman
通讯作者：
van der Kooij, Herman