Dynamically Enhanced Passive and Semi-Passive Intelligent Lower Limb Wearable Assistive Devices

200万加拿大人患有行动不便障碍，限制了他们的日常活动，随着人口老龄化，这一数字还在增加。同样老龄化的人口希望保持他们的生活质量。然而，目前可用的可穿戴式下肢辅助装置只考虑残疾或截肢的位置、解剖结构和舒适性，而很少考虑动态性能。使用电动、液压或气动执行器以及可穿戴传感器和智能算法的主动、半主动甚至机器人设备也在开发中，但这些设备需要额外的元素，这些元素会导致设备笨重、笨重和难看，对采用、合规甚至舒适度产生负面影响。最近的研究表明，如果设备本身的属性被动态调整，被动设备可以在日常使用中通过共振或周期同步等效果来增强移动性。这可以通过在真实用户的真实负载条件下表征可穿戴辅助装置的动态特性、检查用于这些装置的材料特性和制造工艺并修改它们的几何形状以获得所需的动态响应来实现。因此，该研究计划的总体目标是开发低调、轻便的被动和半被动智能可穿戴辅助设备，根据个人定制的材料和几何参数增强移动性。拟议的方案将侧重于实现这一目标的三个方面的调查。首先是开发和验证一套用于评估现有下肢可穿戴辅助装置的动态和振动性能的关键指标，并使用这些指标开发基于代理下肢的实验平台，并与真实用户一起评估这些辅助装置在真实负载条件下的性能。第二个是研究目前用于可穿戴辅助设备的材料如何影响其动态性能，并研究可能具有有益特性的替代、先进和智能材料。辅助设备制造过程如何影响这些材料特性，以及它们与设备动态响应的关系也将被探讨。最后，将研究如何修改这些辅助装置的几何形状，以利用特别有益的材料特性或减少有害影响，同时考虑到个别的动态要求。该计划将为HQP提供一个现代化和多样化的环境，以培训HQP进行机械和生物力学设计、建模和分析。渥太华大学和渥太华医院的世界级设施、医疗保健专业人员和用户将为HQP提供丰富和高度专业化的体验。

2 million Canadians suffer from a mobility disorder that limits their daily activities and this number is increasing as the population ages. This same aging population expects to maintain their quality of life. However, currently available wearable lower limb assistive devices only consider the location of the disability or amputation, its anatomy, and comfort with little regard for dynamic performance. Active, semi-active, or even robotic devices using electric, hydraulic, or pneumatic actuators coupled with wearable sensors and intelligent algorithms are also being developed, but these require additional elements that lead to bulky, heavy, and unsightly devices that have a negative impact on adoption, compliance, and even comfort. Recent studies have shown that passive devices can be used to enhance mobility via effects such as resonance or cycle synchronization during daily use if properties of the device itself are dynamically tuned. This can be achieved by characterizing the dynamic properties of wearable assistive devices under real loading conditions, with real users, examining the material properties and fabrication processes used for these devices and modifying their geometry to achieve the required dynamic response. Thus, the overarching goal of the research program is to develop low-profile and lightweight passive and semi-passive intelligent wearable assistive devices that enhance mobility based on material and geometric parameters customized to the individual. The proposed program will focus on three lines of enquiry towards achieving this goal. The first will be to develop and validate a set of key metrics for the evaluation of the dynamic and vibration properties of current lower limb wearable assistive devices, use these metrics to develop an experimental platform based on surrogate lower limbs, and evaluate the performance of these assistive devices under real loading conditions, with real users. The second will be to study how materials currently used for wearable assistive devices affect their dynamic performance and examine alternative, advanced, and smart materials that may present beneficial properties. How assistive device manufacturing processes affect these material properties and their relationship to the device's dynamic response will also be explored. Finally, methods for modifying the geometry of these assistive devices to take advantage of particularly beneficial material properties or reduce detrimental effects, while accounting for individual dynamic requirements will be investigated. This program will provide a modern and diverse environment for training HQP in mechanical and biomechanical design, modelling and analysis. Access to world-class facilities, health care professionals and users at the University of Ottawa and the Ottawa Hospital will provide HQP with an enriched and highly specialized experience.