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

这项SBIR第一阶段研究计划将开发一种基于弹簧的新型执行器，为未来的可穿戴机器人和外骨骼提供动力。执行器将经过设计、开发和测试，以满足对下肢活动的苛刻要求。这种致动器可用于各种动力矫形器、假肢装置和可穿戴外骨骼。其独特的调整刚度的能力使其能够针对个人进行定制，这在可穿戴机器人领域产生了重大影响。该致动器的另一个好处是解决了在轻量级封装中将旋转运动转换为直线运动的问题。它将满足苛刻的设计要求，包括在高功率、低能耗、合规性、强健的力感测和高周期要求之间进行权衡。这项拟议的活动将为开发下一代下肢活动康复辅助器奠定基础。动力小腿外骨骼的目的是增强佩戴者的力量和表现。在步态辅助的情况下，这样的装置将增加对称性和步行时间。事实上，与身体健全的步行者相比，戴着被动假肢装置的膝下截肢者通常会使用更多的能量来行走，并在运动中呈现不对称。这种步态的不对称会导致关节疼痛、关节炎和背部疼痛。由于行走困难，他们的状况往往导致更多的久坐生活方式，降低了他们本已有限的行动能力。有记录表明，行动不便会增加健康风险。

This SBIR Phase I research proposal will develop a novel, spring-based actuator that will power future wearable robots and exoskeletons. The actuator will be designed, developed, and tested to meet the demanding requirements for lower limb mobility. This actuator can be used in a variety of powered orthoses, prosthetic devices, and wearable exoskeletons. Its unique ability to tune stiffness allows it to be customized to an individual, a significant impact in the wearable robotics field. An additional benefit of the actuator is to solve the problem of converting rotary motion into linear motion in a lightweight package. It will meet the demanding design requirements that include the tradeoffs between high power, low energy usage, compliance, robust sensing of forces, and high cycle demands. The proposed activity will lay the groundwork for the development of the next generation of rehabilitation aids for lower limb mobility. The purpose of powered, lower-limb exoskeletons is to enhance the strength and performance of the person who wears it. In the case of gait assistance such a device will increase symmetry and duration of walking. In fact, a below-the-knee amputee wearing a passive prosthetic device typically uses more energy to walk and presents asymmetry in their motion as compared to an able bodied walker. This asymmetry in 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.