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An Adjustable Compliant Joint for Lower-Limb Exoskeletons

机译:下肢外骨骼的可调柔顺关节

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摘要

The field of exoskeletons and wearable devices for walking assistance and rehabilitation has advanced considerably over the past few years. Currently, commercial devices contain joints with stiff actuators that cannot adapt to unpredictable environments. These actuators consume more energy and may not be appropriate for human-machine interactions. Thus, adjustable compliant actuators are being cautiously incorporated into new exoskeletons and active orthoses. Some simulation-based studies have evaluated the benefits of incorporating compliant joints into such devices. Another reason that compliant actuators are desirable is that spasticity and spasmodic movements are common among patients with motor deficiencies; compliant actuators could efficiently absorb these perturbations and improve joint control. In this paper, we provide an overview of the requirements that must be fulfilled by these actuators while evaluating the behavior of leg joints in the locomotion cycle. A brief review of existing compliant actuators is conducted, and our proposed variable stiffness actuator prototype is presented and evaluated. The actuator prototype is implemented in an exoskeleton knee joint operated by a state machine that exploits the dynamics of the leg, resulting in a reduction in actuation energy demand and better adaptability to disturbances.
机译:在过去的几年中,用于步行辅助和康复的外骨骼和可穿戴设备领域取得了长足的进步。当前,商业设备包含具有不能适应不可预测的环境的刚性致动器的接头。这些执行器消耗更多的能量,可能不适用于人机交互。因此,可调节的柔性致动器被谨慎地结合到新的外骨骼和主动矫形器中。一些基于仿真的研究评估了将顺应性接头并入此类设备的好处。需要顺应性致动器的另一个原因是在运动障碍患者中痉挛和痉挛运动很常见。顺应性执行器可以有效吸收这些干扰并改善关节控制。在本文中,我们概述了这些执行器在评估运动周期中腿部关节的行为时必须满足的要求。对现有的兼容执行器进行了简要回顾,并提出并评估了我们提出的可变刚度执行器原型。执行器原型在状态机操作的外骨骼膝关节中实现,该状态机利用腿部的动力,从而降低了驱动能量需求,并更好地适应了干扰。

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