Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons
Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons
复制标题
人力驱动承载机器人外骨骼快速行走理论
DOI：
10.1109/tnsre.2022.3190208
复制
发表时间：
2022
影响因子：
4.9
通讯作者：
Braun, David J.
中科院分区：
文献类型：
--
作者：
Zhang, Tiange;Braun, David J.
达到并保持高步行速度对于携带额外重量的人来说是具有挑战性的，例如背着沉重的背包步行。机器人肢体可以在静止时支撑沉重的背包，但在几步内将背包加速到竞走速度需要肢体力量和能量，这超出了人类的自然能力。在这里，我们设想了一种由人类驱动的机器人外骨骼，它可以更快地加速沉重的背包，并保持比人类在不背着背包时更高的最高速度。外骨骼的关键部件是机械自适应但能量被动的弹簧肢体。我们表明，通过最佳地适应四肢的刚度，机器人可以实现近水平的质心运动，以模仿自行车的承载力学。我们发现，这样的外骨骼可以使人类在十步内将一个额外的体重加速到最高的竞走速度。我们的研究结果预测，人类驱动的机械自适应机器人外骨骼可以在不使用外部能量的情况下扩展人类的负重和快速行走能力。
Reaching and maintaining high walking speeds is challenging for a human when carrying extra weight, such as walking with a heavy backpack. Robotic limbs can support a heavy backpack when standing still, but accelerating a backpack within a couple of steps to race-walking speeds requires limb force and energy beyond natural human ability. Here, we conceive a human-driven robot exoskeleton that could accelerate a heavy backpack faster and maintain top speeds higher than what the human alone can when not carrying a backpack. The key components of the exoskeleton are the mechanically adaptive but energetically passive spring limbs. We show that by optimally adapting the stiffness of the limbs, the robot can achieve near-horizontal center of mass motion to emulate the load-bearing mechanics of the bicycle. We find that such an exoskeleton could enable the human to accelerate one extra body weight up to top race-walking speeds in ten steps. Our finding predicts that human-driven mechanically adaptive robot exoskeletons could extend human weight-bearing and fast-walking ability without using external energy.