Design of a powered wearable lower limb anthropomorphic exoskeleton

这个NSERC CRD提案的目标是设计一个可穿戴的下肢拟人外骨骼机器人系统（WLLAE），这样可以保留人体关节的自然运动范围。可穿戴外骨骼设备有可能通过帮助他们重新获得或保持一定程度的自主性并允许他们参与社交生活来极大地改善行动不便者的生活质量。为了保持正常人体关节的所有功能，将定制设计6个自由度的Stewart平台，以驱动髋关节和踝关节，并为膝关节实现铰链关节。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链接，以模仿人体链接（主要是软骨）的灵活性。生物反馈传感器，包括表面肌电图将被用来估计用户的意图和命令的执行器。WLLAE将配备跌倒检测单元和安全气囊系统，以保护用户免受与跌倒有关的伤害。

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.