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A novel contractile vacuum actuator and multi-actuator development for knee extension assist

机译：膝关节延长辅助的新型收缩真空执行器和多执行器开发

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Stroke, total knee replacement, and osteoarthritis are common causes that can result in temporary/permanent lower-limb motion impairments. Such patients require physiotherapy interventions to recover their lost motion capabilities. With the increasing number of such patients, there is also an ever-increasing demand on physiotherapists. Hence, there is a need for physiotherapy assistive devices that will reduce the burden on the physiotherapists and allow them to cater to a larger number of patients. One such requirement is to provide assistance for knee flexion and extension. Soft actuators present a novel solution for developing such devices. We propose a novel, low-profile (5 mm), contractile vacuum actuator that, is lightweight (2 g), can provide a high force-to-weight ratio (230), with an effective force of 4.5 N. This proposed actuator comprises an airtight pouch made of thermoplastic polyurethane (TPU) fabric with a helical spring skeleton. Once the air inside the pouch is evacuated, the actuator contracts longitudinally along the spring. This single actuator is combined to fabricate multi-actuator configurations of 3- and 5- actuators capable of producing 8 N and 14 N respectively. Both the single and multi-actuator configurations are experimentally evaluated to obtain isometric, isotonic, and isobaric performance characteristics. A numerical model is also developed to predict the multi-actuator isometric performance. The multi-actuator configurations were combined to evaluate the performance in a model leg extension test setup. The proposed actuators were able to lift a 0.8 kg leg model by 17° in extension at a vacuum pressure of 40 kPa (abs.)
机译：中风，膝关节全膝关节和骨关节炎是常见的原因，可能导致临时/永久性下肢运动损伤。这些患者需要物理治疗干预措施来恢复其失去的运动能力。随着这些患者数量越来越多，对物理治疗师也有不断增加的需求。因此，需要对物理疗法辅助装置减少物理治疗师的负担，并让他们依赖于更多的患者。一种这样的要求是为膝关节屈曲和延伸提供辅助。软致动器提出了一种用于开发这种装置的新型解决方案。我们提出了一种新颖的，低调（5毫米），收缩真空​​致动器，即轻质（2g），可以提供高力重量比（230），有效的力为4.5 n。该提出的执行器包括具有由热塑性聚氨酯（TPU）织物制成的气密袋，具有螺旋弹簧骨架。一旦袋子内的空气被抽空，致动器沿着弹簧纵向收缩。该单个致动器组合以制造能够分别产生8 n和14n的3-和5致动器的多致动器配置。单致动器配置都是通过实验评估的，以获得等距，等渗性和等值性性能特征。还开发了一种数值模型来预测多执行器等距性能。组合多执行器配置以评估模型腿部扩展测试设置中的性能。该致动器能够在40kPa（ABS）的真空压力下将0.8kg腿部施加17°延伸17°。

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