Multibody modelling to prototype next generation portable exoskeletons for everyday assistance

多体建模为下一代便携式外骨骼原型提供日常帮助

• 批准号: RGPIN-2019-07311
• 负责人: Raison, Maxime
• 金额: $ 4.01万
• 依托单位: École Polytechnique de Montréal
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=716689
• 关键词: Multibody; modelling; prototype; next; generation

Imagine an engineer geared to design an innovative portable exoskeleton for everyday assistance. While looking at the variety of current solutions, he is confronted to the following questions: Should the exoskeleton be motorized, or equipped with anti-gravity mechanisms? If so, which motors or mechanisms? Should the exoskeleton be as thick as in the "Ironman" movie, or thin as an "exosuit"? Should one consider separately the compensation for muscle weakness vs. the strength increase to carry heavy weights? Several journals including NBC News and Reuters indicated that a peak growth of the exoskeleton market will reach $ 2-3 billion in the next 5-10 years, making sure that thousands of engineers will be confronted to these questions. Modeling and computer simulations could help answer these questions and optimize the design of next-generation portable exoskeletons. Especially, "multibody dynamic modeling" is the modeling of the dynamic behavior of interconnected rigid or flexible bodies, each of which may undergo large translational and rotational displacements, exactly like the "human body + exoskeleton" system. The long-term objective of my research is to develop a disruptive modeling and simulation tool to support the design of articulated medical devices, including exoskeletons, dynamic orthoses and robotic arms destined to assistance or rehabilitation. This objective will include the subsequent development of novel articulated medical devices. The short-term objective within this research program is to develop a novel modeling and simulation tool to design next-generation portable exoskeletons. This objective will include the development of two new real prototypes that will be technological World firsts: 1. a first motorized portable upper limbs exoskeleton, which still does not exist; 2. a first lower limb exoskeleton able to follow the evolution of muscle force degeneration. This research will directly benefit from our exceptional research environment: our system quantifying the joint and muscle efforts in real-time, which are key to control the next-generation exoskeletons; our Technopole in pediatric rehabilitation equipped with high-end 3D printers to prototype exoskeletons, and giving access to trials; our Canadian industrial and clinical partners, and our international collaborators for access to tools such as the symbolic multibody dynamic modeling software. This research program will bring new published knowledge and skills in various engineering areas: multibody dynamic modeling, biomechanics, motion analysis, prototyping and control of exoskeletons. It will support the training of HQPs to become the next generation of innovators in these exciting areas and will contribute to accelerate the exoskeleton market growth.

想象一下，一位工程师正在设计一种创新的便携式外骨骼，用于日常辅助。在研究当前各种解决方案的同时，他面临着以下问题：外骨骼应该是机动的，还是配备反重力机制？如果是，是哪些电机或机构？外骨骼应该像电影《铁人三项》中那样厚，还是像“外骨骼服”那样薄？是否应该分别考虑肌肉无力的补偿和力量的增加，以携带重物？ 包括NBC新闻和路透社在内的几家期刊表示，外骨骼市场的峰值增长将在未来5-10年内达到20 - 30亿美元，确保数千名工程师将面临这些问题。 建模和计算机模拟可以帮助回答这些问题，并优化下一代便携式外骨骼的设计。特别是，“多体动力学建模”是相互连接的刚性或柔性体的动力学行为的建模，每个体都可能经历大的平移和旋转位移，就像“人体+外骨骼”系统一样。 我的研究的长期目标是开发一种颠覆性的建模和仿真工具，以支持关节式医疗设备的设计，包括外骨骼，动态矫形器和用于辅助或康复的机器人手臂。这一目标将包括新型关节式医疗器械的后续开发。该研究项目的短期目标是开发一种新型的建模和仿真工具，以设计下一代便携式外骨骼。这一目标将包括两个新的真实的原型的发展，这将是技术世界第一：1。第一机动便携式上肢外骨骼，其仍然不存在; 2.第一下肢外骨骼能够跟随肌肉力量退化的演变。 这项研究将直接受益于我们卓越的研究环境：我们的系统实时量化关节和肌肉的工作，这是控制下一代外骨骼的关键;我们的Technopole在儿科康复中配备了高端3D打印机来制作外骨骼原型，并提供试验机会;我们的加拿大工业和临床合作伙伴，以及我们的国际合作者，以获得工具，如符号多体动态建模软件。 该研究计划将带来各种工程领域的新知识和技能：多体动力学建模，生物力学，运动分析，原型设计和外骨骼控制。它将支持HQP的培训，使其成为这些令人兴奋的领域的下一代创新者，并将有助于加速外骨骼市场的增长。