Design and development of an active lower-limb exoskeleton for rehabilitation applications

现有的下肢外骨骼，特别是Bionik的系统，存在许多缺点，包括：1)高成本，2)重量过重，3)高功耗，4)笨重的包装和缺乏人体工程学，5)由于大量的电线而限制了可操作性，以及6)缺乏用户友好的人机界面来处理数据。本拨款申请所建议的系统有以下主要特点和新颖之处。1)通过轻量化材料的使用和人体工程学设计，减轻了重量和成本，提高了易用性。2)使用无线通信将固定和移动组件连接起来，更大程度上减少了限制。3)通过放置在ExoLeg移动组件上的一系列传感器实时收集数据。4)它有一个高效的控制系统，可以处理采集到的数据，并通过语音、操纵杆甚至触摸板接收用户的命令。5)系统的可穿戴部件使用可充电电池，用户在休息时可以随时充电。6)定制功能，实现用户与机器人之间的通信。人口中年长者和边缘群体，如老年人，将从这项研究中受益。目前，截瘫患者大多使用手动或电动轮椅。通过允许截瘫患者站立和行走，ExoLeg几乎可以消除与轮椅使用相关的大多数继发性健康问题，如压疮、呼吸问题、泌尿生殖系统问题、痉挛、疼痛和自主神经反射障碍。它减少了不动的负面心理后果，并进一步提高了用户及其家人的生活质量。Bionik是一家加拿大公司，计划在加拿大进行ExoLegs的制造、组装和质量测试。这将转化为学术界和商业企业中大量高技能、高收入的工作。这项技术为开发一系列机器人辅助设备奠定了基础，这些设备广泛应用于医疗、深海探测和军事等领域。

The existing lower limb exoskeletons in general, and the Bionik's system in particular, suffer from a number of drawbacks, including: 1) High cost, 2) Excessive weight, 3) High power consumption, 4) Bulky packaging and lack of ergonomics, 5) Limited maneuverability due to high volume of wires, and 6) Lack of user friendly Human-Machine Interfaces for data handling. The proposed system in this grant application has the following main characteristics and novelties. 1) It has reduced weight and cost and enhanced usability through utilization of lightweight materials and ergonomic design. 2) It uses wireless communication for linking the stationary and mobile components, to reduce restrictions to a greater extent. 3) Data is collected real-time through an array of sensors that are placed on the mobile component of the ExoLeg. 4) It has an efficient control system to process the acquired data and to receive commands from the user, through voice, joystick or even a touch pad. 5) The wearable component of the system uses rechargeable batteries that can be charged whenever the user is resting. 6) Customized functions allow communication between the user and robot. Venerable and marginalized group of the population, such as elderly, would benefit from this research. Currently, individuals with paraplegia are mostly confined to manual or electrical wheelchairs. By allowing individuals with paraplegia to stand and walk, ExoLeg would virtually eliminate most of the secondary health issues related to wheelchair use, such as pressure ulcers, respiratory problems, genitourinary problems, spasticity, pain, and autonomic dysreflexia. It reduces the negative psychological consequences of immobility and further improves the quality of life of the user and his/her family. Bionik is a Canadian company and plans to perform the manufacturing, assembly and quality testing of ExoLegs in Canada. This would translate to a large number of highly-skilled, well-paid jobs in both academia and commercial business enterprise. The technology serves as the stepping-stone for the development of an array of robotic assistive devices for a wide range of applications from medical to deep-sea exploration, and military use.