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

这个小企业创新研究（SBIR）第二阶段项目将开发一种新型的、基于弹簧的、可调节刚度的致动器，为未来的可穿戴机器人和外骨骼提供动力。该致动器将被集成到一个动力假肢踝关节，这将满足下肢活动的苛刻要求。其独特的调整刚度能力使其能够根据个人进行定制，这对可穿戴机器人领域产生了重大影响。它将满足苛刻的设计要求，包括高功率需求、低能耗、合规性、强大的力感测和高循环需求之间的权衡。最终的结果是一个动力脚踝？）“那你呢？”“那是一种很近的距离。下肢截肢者的身体功能。该项目更广泛的影响/商业潜力是，它将恢复正常的行走功能，低于？]的？]膝盖截肢者这种装置将增加行走的对称性和持续时间。其实，下面的？的？]膝截肢者佩戴被动假肢装置通常使用20？]比身体健全的步行者多30%的行走能量。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，他们的状况往往导致久坐不动的生活方式，减少了他们已经有限的行动能力。据记载，流动性下降会增加健康风险。老年人或超重的人也可以从这项技术中受益。将该技术应用于电动矫形器市场将扩大其对体弱和残疾人口的惠益。一般来说，这些群体的生活方式更久坐，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的人数不断增加，功率降低？]肢体机器人将产生重大的社会影响，通过支持积极的生活方式来改善健康。

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.