An Adjustable Compliant Joint for Lower-Limb Exoskeletons
An Adjustable Compliant Joint for Lower-Limb Exoskeletons
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DOI：
10.1109/tmech.2014.2324036
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发表时间：
2015-04-01
影响因子：
6.4
通讯作者：
Garcia, Elena
中科院分区：
文献类型：
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作者：
Cestari, Manuel;Sanz-Merodio, Daniel;Garcia, Elena
在过去的几年里，外骨骼和用于行走辅助和康复的可穿戴设备领域取得了长足的进步。目前，商业设备包含的关节带有僵硬的致动器，无法适应不可预测的环境。这些执行器消耗更多的能量，可能不适合人机交互。因此，可调节的顺应性致动器正被谨慎地整合到新的外骨骼和主动矫形器中。一些基于模拟的研究已经评估了在此类设备中加入顺应性接头的好处。顺应性执行器是理想的另一个原因是，痉挛和痉挛运动在有运动缺陷的患者中很常见；顺应性执行器可以有效地吸收这些干扰并改善关节控制。在本文中，我们概述了在运动周期中评估腿部关节行为时，这些执行器必须满足的要求。对现有的柔性执行器进行了简要的回顾，并对我们提出的变刚度执行器样机进行了评估。执行器原型在外骨骼膝关节中实现，由状态机操作，该状态机利用腿部的动力学，从而减少了对驱动能量的需求，并对干扰有更好的适应性。
The field of exoskeletons and wearable devices for walking assistance and rehabilitation has advanced considerably over the past few years. Currently, commercial devices contain joints with stiff actuators that cannot adapt to unpredictable environments. These actuators consume more energy and may not be appropriate for human-machine interactions. Thus, adjustable compliant actuators are being cautiously incorporated into new exoskeletons and active orthoses. Some simulation-based studies have evaluated the benefits of incorporating compliant joints into such devices. Another reason that compliant actuators are desirable is that spasticity and spasmodic movements are common among patients with motor deficiencies; compliant actuators could efficiently absorb these perturbations and improve joint control. In this paper, we provide an overview of the requirements that must be fulfilled by these actuators while evaluating the behavior of leg joints in the locomotion cycle. A brief review of existing compliant actuators is conducted, and our proposed variable stiffness actuator prototype is presented and evaluated. The actuator prototype is implemented in an exoskeleton knee joint operated by a state machine that exploits the dynamics of the leg, resulting in a reduction in actuation energy demand and better adaptability to disturbances.