Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation
Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation
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具有紧凑、可反向驱动驱动的部分辅助膝关节矫形器的设计和验证
DOI：
10.1109/icorr.2019.8779479
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Gregg, Robert D.
中科院分区：
文献类型：
--
作者：
Zhu, Hanqi;Nesler, Christopher;Divekar, Nikhil;Ahmad, M. Taha;Gregg, Robert D.
This paper presents the mechatronic design and initial validation of a partial-assist knee orthosis for individuals with musculoskeletal disorders, e.g., knee osteoarthritis and lower back pain. This orthosis utilizes a quasi-direct drive actuator with a low-ratio transmission (7:1) to greatly reduce the reflected inertia for high backdrivability. To provide meaningful assistance, a custom Brushless DC (BLDC) motor is designed with encapsulated windings to improve the motor's thermal environment and thus its continuous torque output. The 2.69 kg orthosis is constructed from all custom-made components with a high package factor for lighter weight and a more compact size. The combination of compactness, backdrivability, and torque output enables the orthosis to provide partial assistance without obstructing the natural movement of the user. Several benchtop tests verify the actuator's capabilities, and a human subject experiment demonstrates reduced quadriceps muscle activation when assisted during a repetitive lifting and lowering task.
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影响因子：
--
作者：
Amin, Shreyasee;Baker, Kristin;Niu, Jingbo;Clancy, Margaret;Goggins, Joyce;Guermazi, Ali;Grigoryan, Mikayel;Hunter, David J.;Felson, David T.
通讯作者：
Felson, David T.
高度可反向驱动下肢外骨骼的设计与控制
影响因子：
2.2
作者：
Ge Lv;Hanqi Zhu;R. Gregg
通讯作者：
R. Gregg
影响因子：
2.8
作者：
Astephen, Janie L.;Deluzio, Kevin J.;Dunbar, Michael J.
通讯作者：
Dunbar, Michael J.
机器人无刷电机中的外部转子与内部转子
DOI：
10.1109/icra.2011.5979940
发表时间：
2011
期刊：
2011 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
J. Sensinger;S. D. Clark;J. F. Schorsch
通讯作者：
J. F. Schorsch
影响因子：
5.7
作者：
Lv, Ge;Zhu, Hanqi;Gregg, Robert D.
通讯作者：
Gregg, Robert D.