Design of an Exoskeleton with Minimized Energy Consumption based on using Elastic and Dissipative Elements
Design of an Exoskeleton with Minimized Energy Consumption based on using Elastic and Dissipative Elements
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DOI：
10.1007/s12555-013-0386-0
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发表时间：
2015-04-01
影响因子：
3.2
通讯作者：
Han, Changsoo
中科院分区：
文献类型：
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作者：
Kim, Hyo-gon;Lee, Jong-won;Han, Changsoo
本研究提出了一种外骨骼的设计，通过利用弹性和耗散元素，在站立-坐-立（STS）运动和行走时，将能量消耗降至最低。为了确定哪个相位和关节可以利用弹性和耗散元素，我们分析了一个人的行走和STS运动。根据这些人体运动数据，我们提出了一种用于髋关节内收和外展的弹性元件（Ad/Ab），使用半主动液压系统用于髋关节屈伸（Fl/Ex）的串联耗散驱动（SDA），以及用于膝关节Fl/Ex的并联弹性和串联耗散驱动（PESDA），它结合了SDA和并联弹性元件。通过测量使用者的地面反力（GRF）来评估具有髋关节Ad/Ab弹簧、髋关节SDA和膝关节PESDA的外骨骼（EXO）的效果。当受试者佩戴带有髋关节Ad/Ab弹簧、髋关节SDA和膝关节PESDA的EXO时，受试者在20 kg负荷条件下行走和进行STS运动时的GRF比不佩戴EXO时要小，除了行走运动的脚跟撞击期间。
This study proposes the design of an exoskeleton featuring minimized energy consumption during stand-to-sit and sit-to-stand (STS) motion and walking while carrying a load through the utilization of elastic and dissipative elements. In order to determine which phase and joint can utilize elastic and dissipative elements, we analyzed a human's walk and STS motions. With this human motion data, we propose an elastic element for hip adduction and abduction (Ad/Ab), series dissipative actuation (SDA) using a semi-active hydraulic system for hip flexion and extension (Fl/Ex) and parallel elastic and series dissipative actuation (PESDA) for the knee Fl/Ex, which is combined with the SDA and the parallel elastic element. The effect of the developed exoskeleton (EXO) with a hip Ad/Ab spring, hip SDA and knee PESDA was evaluated by measuring the user's ground reaction force (GRF). When wearing the EXO with a hip Ad/Ab spring, hip SDA and knee PESDA, the subject's GRF was smaller as compared to when the subject was not wearing the EXO while walking and performing the STS motion under a 20-kg load condition, except during the heel strike of the walk motion.