Using parallel elasticity in back-support exoskeletons: a study on energy consumption during industrial lifting tasks
Using parallel elasticity in back-support exoskeletons: a study on energy consumption during industrial lifting tasks
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在背部支撑外骨骼中使用平行弹性：工业举升任务期间能源消耗的研究
DOI：
10.1109/wearracon.2019.8719404
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
J. Ortiz
中科院分区：
文献类型：
--
作者：
Stefano Toxiri;T. Verstraten;A. Calanca;D. Caldwell;J. Ortiz
外骨骼的潜在应用领域随着其实现的技术进步而扩大。在尚未解决的技术挑战中，致动器设计影响所产生的设备的许多重要特性，例如重量和用户舒适度。我们在这里考虑的情况下，主动外骨骼设计，以协助下背部在提升任务。在以前的研究中，一个平行的弹性致动器，以提高扭矩控制带宽超过一个“传统的”刚性致动器在产生所需的扭矩分布，通过使低惯性设计。本文报告了我们在能耗方面的研究结果，结果表明，适当设计的平行弹簧也大大降低了电能消耗（在所提出的情况下，降低了50%以上），使外骨骼设计具有更轻的重量和更高的功率自主性。
The potential areas of application for exoskeletons are expanding as technological advances are made in their realization. Among the technological challenges still unsolved, actuator design affects many important properties of the resulting device, such as weight and user comfort. We consider here the case of an active exoskeleton designed to assist the lower back during lifting tasks. In previous studies, a parallel-elastic actuator was shown to improve torque control bandwidth over a “traditional” stiff actuator in generating the required torque profiles, by enabling lower-inertia designs. This paper reports our results on energy consumption showing that an appropriately designed parallel spring also substantially reduces the electrical energy consumption (by well over 50% in the proposed case), enabling exoskeleton designs with reduced weight and improved power autonomy.