SBIR Phase II: Compliant Jack Spring Actuators for Lower Limb Mobility

这个小企业创新研究（SBIR）二期项目将开发一种新颖的、基于弹簧的、可调刚度的执行器，为未来的可穿戴机器人和外骨骼提供动力。该驱动器将集成到动力假肢踝关节中，以满足下肢活动的苛刻要求。其独特的调整刚度的能力使其能够为个人定制，这在可穿戴机器人领域具有重大影响。它将满足苛刻的设计要求，包括高功率需求、低能耗、合规性、强大的力感测和高周期需求之间的权衡。最终的结果是一个有动力的脚踝？脚假体，将提供近能？下肢截肢者的身体功能。这个项目更广泛的影响/商业潜力是，它将恢复正常的步行功能到低于？膝盖截肢者。这样的装置将增加对称性和步行时间。事实上，a < ？膝截肢者佩戴被动式假肢装置通常使用20？比身体健全的步行者多消耗30%的能量。截肢者步态的不对称会导致关节疼痛、关节炎和背痛。由于行走困难，他们的病情往往导致久坐不动的生活方式，从而减少了他们本已有限的行动能力。文献表明，流动性降低会增加健康风险。老年人或超重的人也可以从这项技术中受益。将该技术应用于动力矫形器市场将扩大其对虚弱和残疾人群的益处。一般来说，这些群体有更久坐的生活方式，有时依赖于使用电动滑板车。由于糖尿病患者、老年人和行走能力下降的人越来越多，体力下降？肢体机器人将通过支持积极的生活方式来改善健康，从而对社会产生重大影响。

This Small Business Innovation Research (SBIR) Phase II project will develop a novel, spring-based, adjustable stiffness actuator, that will power future wearable robots and exoskeletons. The actuator will be integrated into a powered prosthetic ankle which will meet the demanding requirements for lower limb mobility. Its unique ability to tune stiffness allows it to be customized to an individual, a significant impact in the wearable robotics field. It will meet the demanding design requirements that include the tradeoffs between high power need, low energy usage, compliance, robust sensing of forces, and high cycle demands. The end result is a powered ankle?]foot prosthesis that will provide near able?]bodied function to a lower leg amputee. The broader impact/commercial potential of this project is that it will restore normal walking function to below?]the?]knee amputees. Such a device will increase symmetry and duration of walking. In fact, a below?]the?]knee amputee wearing a passive prosthetic device typically uses 20?]30% more energy to walk than an able bodied walker. Asymmetry in an amputees gait leads to joint pain, arthritis, and back pain. Because of the difficulty to walk, their conditions often lead to a more sedentary lifestyle decreasing their already limited mobility. It is documented that decreased mobility increases health risks. Elderly or overweight individuals may benefit from the technology as well. Adaptation of the technology to the powered orthosis market will expand its benefits to weak and disabled populations. In general, these groups have a more sedentary lifestyle and sometimes rely on the use of powered scooters. Because of the growing population of people with diabetes, elderly, and individuals with reduced walking ability, powered lower?]limb robots will have a significant societal impact improving health by supporting an active lifestyle.