Next Generation of Intelligent Anthropomorphic Exoskeleton Systems

外骨骼是一种可穿戴的机器人系统，由外部结构机构组成，其关节和连杆与生物关节运动同步，以增强或支持身体运动。下肢外骨骼的趋势包括要么支持非常有限的自由度(DOF)，要么由于其笨重的结构覆盖更多的DOF。第一组外骨骼无法覆盖足够的运动范围(Rom)来进行类似人类的运动和平衡控制，而它们的笨重对应物对于大多数应用来说并不实用。为了解决这一缺点，在SFU，我们率先设计了新一代紧凑型外骨骼系统，可以覆盖整个只读存储器。我们通过将3D并联机器人关节与紧凑的运动传递机构相结合来实现这一点。虽然这种外骨骼提供了更好的机动性和动力辅助/增强，但要在其他领域广泛应用电动可穿戴机器人系统，仍有一些重大技术挑战必须克服。*在这项发现拨款(DG)中，我们提出了一个世界级的研究计划，用于开发以人类为中心的外骨骼系统，该系统除了覆盖完整的rom外，还设计成自然地符合人体形态，并且紧凑、轻便、时尚和安全。这种多功能和铰接式外骨骼将完全加载先进的功能，带来智能、自主性、稳定性和直观性。综上所述，我们建议(I)开发优化外骨骼设计平台，以提高效率和可用性；(Ii)开发在线仿人运动生成算法；(Iii)开发环绕导航，以增强用户的认知能力；(Iv)开发直观、智能的用户界面，用于自然用户意图识别和步态指挥；(V)开发关节轨迹库，以实现稳定的仿人运动。这个DG的成果将为我们的超人项目的长期目标奠定基础，在这个项目中，全身可穿戴机器人成为我们日常生活的一部分，不仅可以增强/断言身体力量，还可以增强认知能力。*除了目前正在取得突破性研究和开发成就的非常有才华的HQP，以及那些将加入这个充满活力的团队的人，我们还受益于与跨学科、世界级的研究伙伴、机构和中心的密切合作。我们在SFU的研究伙伴在电力电子、电池和传感器仪器等领域对我们表示赞赏，而我们在UBC和BCIT的合作者更多地参与与人类相关的研究方面，例如矫形器设计和人体测试。拟议的研究计划也符合SFU在可穿戴设备和技术方面的战略计划，该计划最近在CFI提供的350万美元赠款中得以实现，用于在我的研究实验室所在的Surry园区建设所需的基础设施。**

An exoskeleton is a wearable robotic system consists of an external structural mechanism with joints and links which are synchronized with biological joint motions to enhance or support body movements. Trends in the lower limb exoskeletons include devices that either support a very limited number of the degree-of-freedom (DoFs) or cover more DoFs with their bulky structures. The first group of exoskeleton fail to cover a sufficient range of motion (RoM) for human-like locomotion and balance control while their bulky counterparts are not practical for most applications. To address the shortcoming, at SFU, we pioneered the design of a new generation of compact exoskeleton systems that can cover full RoM. We achieved that by combining 3D parallel robotic joints with a compact motion transfer mechanism. While this exoskeleton offers improved mobility and power assistance/augmentation, there are still major technological challenges that must be overcome for widespread applications of powered wearable robotic systems in other areas. ***In this Discovery Grant (DG) we propose a world-class research program for developing human-centred exoskeleton systems that in addition to covering full RoM, are designed to naturally fit with human body morphology and are compact, light, stylish, and safe. Such versatile and articulated exoskeletons will be fully loaded with advanced features that bring intelligence, autonomy, stability, and intuitiveness. In summary, we propose to (i) develop optimize exoskeleton design platforms for enhancing efficiency and usability, (ii) develop online motion generation algorithms for human-like locomotion, (iii) develop surround navigations for enhancing cognitive ability of users, (iv) develop intuitive and intelligent user interfaces for natural user intention identification and gait commanding, (v) develop a library of joint trajectories for stable human-like locomotion. The outcome of this DG will build a foundation for a long-term goal of our superhuman project in which full body wearable robotics become a part of our daily lives for not only augmenting/asserting physical power but also enhancing cognitive abilities.***In addition to highly talented HQP that are currently making groundbreaking research and development accomplishments, and those who will join this dynamic team, we benefit from close collaborations with interdisciplinary, world-class research partners, institutions, and centers. Our research partners at SFU compliment us in areas such as power electronics, batteries, and sensor instrumentation, while our collaborators at UBC and BCIT are more involved in the human-related aspects of the research, e.g. orthotics design and human testing. The proposed research program is also in line with SFU strategic plan in wearable devices and technologies which has been recently materialized in a $3.5M CFI grant for building the required infrastructure in its Surry campus, where my research laboratory is located. **