Next Generation of Intelligent Anthropomorphic Exoskeleton Systems

外骨骼是一种可穿戴机器人系统，由具有关节和连杆的外部结构机构组成，这些关节和连杆与生物关节运动同步以增强或支持身体运动。下肢外骨骼的趋势包括支持非常有限数量的自由度（DoF）或用其庞大结构覆盖更多DoF的设备。第一组外骨骼无法覆盖足够的运动范围（RoM），以实现类似人类的运动和平衡控制，而它们庞大的对应物对于大多数应用来说是不实用的。为了解决这个缺点，在SFU，我们率先设计了新一代紧凑型外骨骼系统，可以覆盖整个ROM。我们通过将3D并联机器人关节与紧凑的运动传递机制相结合来实现这一目标。虽然这种外骨骼提供了改进的移动性和动力辅助/增强，但对于动力可穿戴机器人系统在其他领域的广泛应用，仍然存在必须克服的重大技术挑战。* 在这个发现补助金（DG）中，我们提出了一个世界级的研究计划，用于开发以人为中心的外骨骼系统，除了覆盖完整的RoM外，还旨在自然适应人体形态，并且紧凑，轻便，时尚，安全。这种多功能和铰接式外骨骼将完全加载先进的功能，带来智能，自主，稳定和直观。总之，我们建议（i）开发优化的外骨骼设计平台以提高效率和可用性，（ii）开发用于类人运动的在线运动生成算法，（iii）开发用于增强用户认知能力的环绕导航，（iv）开发用于自然用户意图识别和步态命令的直观和智能用户界面，（v）建立一个关节轨迹库，以实现稳定的类人运动。本次DG的成果将为我们的超人项目的长期目标奠定基础，在该项目中，全身可穿戴机器人技术将成为我们日常生活的一部分，不仅可以增强/维护体力，还可以增强认知能力。除了目前正在取得突破性研究和开发成就的才华横溢的HQP，以及那些将加入这个充满活力的团队的人之外，我们还受益于与跨学科，世界一流的研究合作伙伴，机构和中心的密切合作。我们在SFU的研究合作伙伴在电力电子，电池和传感器仪器等领域对我们表示赞赏，而我们在UBC和BCIT的合作伙伴则更多地参与了与人类相关的研究方面，例如矫形器设计和人体测试。拟议的研究计划也符合SFU在可穿戴设备和技术方面的战略计划，该计划最近已在350万美元的CFI拨款中实现，用于在我的研究实验室所在的苏里校园内建设所需的基础设施。**

An exoskeleton is a wearable robotic system consists of an external structural mechanism with joints and links which are synchronized with biological joint motions to enhance or support body movements. Trends in the lower limb exoskeletons include devices that either support a very limited number of the degree-of-freedom (DoFs) or cover more DoFs with their bulky structures. The first group of exoskeleton fail to cover a sufficient range of motion (RoM) for human-like locomotion and balance control while their bulky counterparts are not practical for most applications. To address the shortcoming, at SFU, we pioneered the design of a new generation of compact exoskeleton systems that can cover full RoM. We achieved that by combining 3D parallel robotic joints with a compact motion transfer mechanism. While this exoskeleton offers improved mobility and power assistance/augmentation, there are still major technological challenges that must be overcome for widespread applications of powered wearable robotic systems in other areas. ***In this Discovery Grant (DG) we propose a world-class research program for developing human-centred exoskeleton systems that in addition to covering full RoM, are designed to naturally fit with human body morphology and are compact, light, stylish, and safe. Such versatile and articulated exoskeletons will be fully loaded with advanced features that bring intelligence, autonomy, stability, and intuitiveness. In summary, we propose to (i) develop optimize exoskeleton design platforms for enhancing efficiency and usability, (ii) develop online motion generation algorithms for human-like locomotion, (iii) develop surround navigations for enhancing cognitive ability of users, (iv) develop intuitive and intelligent user interfaces for natural user intention identification and gait commanding, (v) develop a library of joint trajectories for stable human-like locomotion. The outcome of this DG will build a foundation for a long-term goal of our superhuman project in which full body wearable robotics become a part of our daily lives for not only augmenting/asserting physical power but also enhancing cognitive abilities.***In addition to highly talented HQP that are currently making groundbreaking research and development accomplishments, and those who will join this dynamic team, we benefit from close collaborations with interdisciplinary, world-class research partners, institutions, and centers. Our research partners at SFU compliment us in areas such as power electronics, batteries, and sensor instrumentation, while our collaborators at UBC and BCIT are more involved in the human-related aspects of the research, e.g. orthotics design and human testing. The proposed research program is also in line with SFU strategic plan in wearable devices and technologies which has been recently materialized in a $3.5M CFI grant for building the required infrastructure in its Surry campus, where my research laboratory is located. **