Design of a powered wearable lower limb anthropomorphic exoskeleton

NSERC CRD建议的目标是设计一种可穿戴的下肢拟人化外骨骼机器人系统(WLLAE)，以保持人类关节的自然运动范围。一种可穿戴的外骨骼设备可以帮助行动不便的人恢复或保持一定程度的自主性，并允许他们参与社交生活，从而极大地提高他们的生活质量。为了保持正常人类关节的所有功能，Stewart将定制6个自由度的平台，以驱动髋关节和脚踝关节，并为膝盖安装铰链关节。为了连接这些关节，磁流变阻尼器将被用作关节之间的柔性连接，以模拟人体连接的灵活性(主要是通过软骨)。包括表面肌电在内的生物反馈传感器将被用来估计用户的意图并指挥执行器。WLLAE将配备坠落检测装置和安全气囊系统，以保护用户免受与坠落相关的伤害。

The goal of this NSERC CRD proposal is to design a wearable lower limb anthropomorphic exoskeleton robotic system (WLLAE) such that the natural range-of-motion of human joints is preserved. A wearable exoskeleton device has the potential to immensely improve the quality of life of those with reduced mobility by helping them to regain or maintain a level of autonomy and allowing them to engage in social life. To maintain all the functionalities of normal human joints, 6 degrees of freedom Stewart platforms will be custom designed in miniature to actuate the hip and ankle joints, and for the knee a hinge joint will be implemented. To connect these joints magnetorheological dampers will be employed as flexible links between joints to mimic the flexibility of human body links (mostly by cartilage). Biofeedback sensors including surface electromyography will be employed to estimate users' intentions and command the actuators. WLLAE will be equipped with a fall detection unit and airbag systems to protect users against fall-related injuries.