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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Flexible Gait Enhancing Mechatronics System for Lower Limb Assistance (GEMS L-Type)
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Flexible Gait Enhancing Mechatronics System for Lower Limb Assistance (GEMS L-Type)

机译：下肢辅助的灵活步态增强机电一体化系统（GEMS L型）

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摘要

This paper presents a novel wearable walking assistance device for the elderly, designed to aid them in their physical gait. In compliance with human motion and the human body, the device not only fits tightly to the lower body of a wearer, but also transmits the assisting torque to the hip/knee joint efficiently and comfortably. To overcome the poor wearability and assistive performance of conventional wearable walking assistance devices, three novel mechanisms are proposed: first, a dual reduction actuator, which makes the mechanism more compact with minimal resistance, second, compliant joints, which adapt to human motion regardless of the wearing state, wearing position, and three-dimensional human joint motions, and third, a flexible foot/ankle mechanism, which helps in rigidly transmitting the assisting force only to the forefoot. The developed wearable walking assistance device based on these mechanisms was validated through experiments.
机译：本文为老年人提供了一种新型的可穿戴步行辅助设备，旨在帮助他们的身体步态。该装置不仅符合人体运动和人体的要求，而且不仅紧贴在穿戴者的下半身，而且还可以有效，舒适地将辅助扭矩传递到髋/膝关节。为了克服常规可穿戴步行辅助设备的差的可穿戴性和辅助性能，提出了三种新颖的机构：首先，双重减速致动器，该机构使机构更紧凑，阻力最小；其次，顺应性关节，无论人体如何运动，均能适应人体运动。佩戴状态，佩戴位置和三维人体关节运动，第三，灵活的脚/踝机构，有助于将辅助力刚性地传递到前脚。通过实验验证了开发的基于这些机制的可穿戴步行辅助设备。

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