Robotizing Double-Bar Ankle-Foot Orthosis
Robotizing Double-Bar Ankle-Foot Orthosis
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DOI：
10.1109/icra.2018.8462911
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
T. Noda;Asuka Takai;T. Teramae;Eiko Hirookai;K. Hase;J. Morimoto
中科院分区：
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作者：
T. Noda;Asuka Takai;T. Teramae;Eiko Hirookai;K. Hase;J. Morimoto
本文介绍了一种将踝足矫形器 (AFO) 机器人化的方法。特别是，针对中风后步态康复，我们通过新设计模块化关节、气动执行器和鲍登电缆力传输系统，将广泛应用于康复设施的双杆 AFO 机器人化。我们的模块化关节系统称为模块化外骨骼关节 (MEJ)，具有空心轴，可轻松连接到 AFO 的枢轴。我们设计 MEJ 来紧凑地容纳内置在滑轮轴承中的编码器。我们采用 Bowden 电缆将收缩力从执行器传输到 MEJ。作为驱动方案，我们开发了嵌套气缸气动人工肌肉（NcPAM）系统。尽管 PAM 具有机械顺应性且重量轻，但它们仍然可以产生很大的力。因此，它们可以为外骨骼机器人提供理想的驱动系统。 NcPAM 中的嵌套圆柱体装有一个缆索张紧弹簧，用于正确保持较小的缆索张力以进行被动运动，以及一个缆索止动件，用于连接 PAM 和缆索，以正确传输 PAM 产生的大力。我们使用迭代学习控制展示了该集成系统的踝关节轨迹跟踪性能。
This paper introduces an approach that robotizes an ankle-foot orthosis (AFO). In particular, toward post-stroke gait rehabilitation, we robotize a double-bar AFO, which is widely used in rehabilitation facilities, by newly designing a modular joint, a pneumatic actuator, and a Bowden cable force-transmission system. Our modular joint system, called the Modular Exoskeletal Joint (MEJ), has a hollow shaft for simple attachment to an AFO's pivot. We designed MEJ to compactly house an encoder that is built in a bearing in a pulley. We adopted Bowden cables to transmit contraction forces from an actuator to the MEJ. As an actuation scheme, we developed the Nested-cylinder Pneumatic Artificial Muscle (NcPAM) system. Even though PAMs are mechanically compliant and lightweight, they can still generate a large force. Therefore, they can provide an ideal actuation system for exoskeletal robots. The nested-cylinder in NcPAM houses a cable-tensioning spring to properly maintain small cable tension for passive movements and a cable stopper to connect the PAM and the cable for properly transmitting the large force generated by PAM. We show the ankle-joint trajectory tracking performances of this integrated system using iterative learning control.