Design and Validation of a Versatile High Torque Quasidirect Drive Hip Exoskeleton
Design and Validation of a Versatile High Torque Quasidirect Drive Hip Exoskeleton
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DOI：
10.1109/tmech.2023.3334795
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发表时间：
2024-02
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影响因子：
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通讯作者：
Aakash Bajpai;Carlos Carrasquillo;Jessica Carlson;Julian Park;Divya Iyengar;Kinsey R. Herrin;Aaron J. Young;A. Mazumdar
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文献类型：
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作者：
Aakash Bajpai;Carlos Carrasquillo;Jessica Carlson;Julian Park;Divya Iyengar;Kinsey R. Herrin;Aaron J. Young;A. Mazumdar
可穿戴机器人领域已经在增强人类功能方面取得了重大进展，从多模态机器人到手动起重任务。然而，这些系统中的大多数被设计为特定于任务并且仅关注单一类型的移动（例如，Ambassador）。在这项工作中，我们设计，制造和表征一个多功能的髋关节外骨骼测试平台的升降机和ampertise的任务。外骨骼测试台用定制的准直接驱动致动器致动。我们生产了一个矫形器接口来传输高扭矩，并为外骨骼测试台组装了一个定制的机电控制系统。我们还详细控制器水平地面行走，倾斜行走，和对称的膝盖到腰部提升。我们量化的致动器扭矩跟踪性能量化通过台式和人体实验。在膝盖到腰部的循环提升期间，与没有外骨骼的条件相比，动力条件表现出净代谢成本降低16.7%（三个受试者）。对于其他任务（倾斜行走、水平行走），与无动力情况（单个受试者）相比，器械可降低代谢。这些试验结果说明了多功能髋关节辅助的潜力，并可用于设计未来的优化设备。
The field of wearable robotics has made significant progress toward augmenting human functions from multimodal ambulation to manual lifting tasks. However, most of these systems are designed to be task-specific and only focus on a single type of movement (e.g., ambulation). In this work, we design, fabricate, and characterize a versatile hip exoskeleton testbed for lifting and ambulation tasks. The exoskeleton testbed is actuated with custom-built quasidirect drive actuators. We produce an orthotic interface to transmit high torques and assemble a custom mechatronic control system for the exoskeleton testbed. We also detail controllers for level ground walking, incline walking, and symmetric knee to waist lifting. We quantify the actuator torque tracking performance quantified through benchtop and human experiments. During knee-to-waist cyclic lifting, the powered condition exhibited a 16.7% reduction in net metabolic cost compared to the no exoskeleton condition (three subjects). For additional tasks (inclined walking, level-walking), the device provided metabolic reductions when compared with the unpowered case (single subject). These testbed results illustrate the potential for versatile hip assistance and can be used to design future optimized devices.