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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Robotic Ankle–Foot Orthosis With a Variable Viscosity Link Using MR Fluid
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Robotic Ankle–Foot Orthosis With a Variable Viscosity Link Using MR Fluid

机译：使用MR流体的可变粘度链接的机器人踝足矫形器

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This paper proposes a novel semiactive ankle-foot orthosis (AFO) called SmartAFO equipped with an elastic link mechanism. The design of the device is based on the understanding of gait biomechanics for gait assistance against paralysis and other gait abnormalities affecting the ankle joint function. The elastic link at the core of the developed AFO is a 1-degree-of-freedom linear-motion system, capable of regulating its viscosity via a magnetorheological fluid and an electromagnetic coil. The link is also integrated with a compression spring that allows it to store and release energy based on its coil current. This design enabled a semiactive AFO that can mitigate foot slap and toe drag without adversely affecting push-off or other gait phases. We present the development of SmartAFO and the results of experiments conducted on healthy people to verify its support functions compared to a commercial AFO. The results showed that SmartAFO can provide controllable braking torque at the heel contact, avoid ankle motion obstruction during the push-off phase, and support toe lift during the swing phase.
机译：本文提出了一种新型的半主动式踝足矫形器（AFO），称为SmartAFO，它配备了弹性连杆机构。该设备的设计基于对步态生物力学的理解，以帮助步态对抗麻痹和其他影响踝关节功能的步态异常。所开发的AFO核心处的弹性连杆是一种1自由度的线性运动系统，能够通过磁流变流体和电磁线圈调节其粘度。连杆还集成有压缩弹簧，可根据线圈电流存储和释放能量。这种设计实现了一种半主动式AFO，该AFO可以减轻脚掌和脚趾的拖拉力，而不会不利地影响俯卧或其他步态阶段。我们介绍SmartAFO的开发以及在健康人身上进行的实验结果，以验证其与商用AFO相比的支持功能。结果表明，SmartAFO可以在脚跟接触时提供可控制的制动扭矩，在下推阶段避免脚踝运动阻塞，并在挥杆阶段支撑脚趾抬起。

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