Design and preliminary evaluation of a flexible exoskeleton to assist with lifting
Design and preliminary evaluation of a flexible exoskeleton to assist with lifting
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DOI：
10.1017/wtc.2020.10
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发表时间：
2021-01-11
影响因子：
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通讯作者：
Asbeck, Alan T.
中科院分区：
文献类型：
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作者：
Chang, S. Emily;Pesek, Taylor;Asbeck, Alan T.
我们提出了一个被动（无动力）外骨骼，协助在解除背部。我们的外骨骼使用碳纤维梁作为唯一的手段来储存能量并将其返回给穿戴者。为了激励设计，我们提出了升降外骨骼设计的一般要求，包括计算支撑不同体重和身高的人的躯干所需的扭矩。我们比较了许多外骨骼的能量存储方法的质量，体积，滞后和循环寿命。然后，我们讨论我们的外骨骼的设计，并显示如何躯干组件导致平衡的力量。我们表征了外骨骼中的能量存储和它在与人类受试者的测试期间提供的扭矩。10名参与者进行自由泳，弯腰，蹲举。定制的图像处理软件用于提取外骨骼中碳纤维梁的曲率以确定存储的能量。在自由式举重过程中，它平均储存59.3 J，并提供71.7 Nm的峰值扭矩。
We present a passive (unpowered) exoskeleton that assists the back during lifting. Our exoskeleton uses carbon fiber beams as the sole means to store energy and return it to the wearer. To motivate the design, we present general requirements for the design of a lifting exoskeleton, including calculating the required torque to support the torso for people of different weights and heights. We compare a number of methods of energy storage for exoskeletons in terms of mass, volume, hysteresis, and cycle life. We then discuss the design of our exoskeleton, and show how the torso assembly leads to balanced forces. We characterize the energy storage in the exoskeleton and the torque it provides during testing with human subjects. Ten participants performed freestyle, stoop, and squat lifts. Custom image processing software was used to extract the curvature of the carbon fiber beams in the exoskeleton to determine the stored energy. During freestyle lifting, it stores an average of 59.3 J and provides a peak torque of 71.7 Nm.