SHB: Type I (EXP): Collaborative Research: A Portable Power-Assist Orthosis to Aid Elderly Persons in Locomotion

本项目开发了一种便携式助力矫形器，以解决因下肢无力而导致的行动不便的问题。该机器人矫形器根据使用者的运动意图主动协助使用者的关节运动，从而使使用者能够独立地执行某些关键的、耗电的任务(例如坐到站的运动)。该矫形器采用一种高性能的驱动方法，即化学-流体驱动，它将高功率密度的气动执行器与基于高能量密度的单推进剂的气动供应相结合。除了新的驱动方法外，该矫形器还具有新的结构和用户界面，以实现有效的载荷转移和轻松的穿戴-脱下；以及有效的运动控制算法，根据用户的运动意图实现交互式动力辅助。通过便携式助力矫形器，使用者减少了对照顾者帮助的依赖，享受了显著提高的生活质量，并保持身体活动，避免了上述与久坐不动的生活方式相关的问题。该项目对辅助技术具有更广泛的影响，可以改善老年人和因下肢无力而行动不便的人的行动能力。该项目潜在地可以减少照顾这些人的相当大的体力援助，以及护理方面的时间和人力成本。该项目的研究被纳入教育活动，利用康复机器人作为一种创新的教育媒体。

This project develops a portable power-assist orthosis to address the problems of impaired mobility due to lower-extremity weakness. This robotic orthosis actively assists the user's joint motion according to his or her motion intent, and thus enables the user to perform certain critical, power-consuming tasks (such as the sit-to-stand motion) independently. The orthosis is powered with a high-performance actuation approach, namely chemo-fluidic actuation, which combines the high-power-density pneumatic actuators with a high-energy-density monopropellant-based pneumatic supply. In addition to the new actuation approach, the orthosis also features a new structure and user interface for effective load transfer and easy donning-doffing; and an effective motion control algorithm to enable interactive power assist according to the user's motion intent. With the portable power-assist orthosis, the users reduce the reliance on the assistance by caregivers, enjoy a significantly improved life quality, and stay physically active to avoid the aforementioned issues associated with the sedentary life style.This project has broader impact to assistive technologies and can improve mobility of elderly individuals and people suffering from the impaired mobility due to lower-extremity weakness. The project can potentially reduce a considerable amount of physical assistance taking care of these individuals, and the cost of time and manpower in the care. The research of the project is incorporated into education activities by utilizing the rehabilitation robotics as an innovative education medium.