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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Validation of a Torque-Controllable Knee Exoskeleton for Sit-to-Stand Assistance
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Design and Validation of a Torque-Controllable Knee Exoskeleton for Sit-to-Stand Assistance

机译：坐姿辅助可控扭矩膝关节外骨骼的设计与验证

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摘要

Individuals with poststroke hemiparesis often exhibit mobility deficits, particularly during tasks requiring high lower limb torques. The sit-to-stand transition is consistently marked by asymmetrical weight-bearing between the paretic and unaffected legs. One way to improve characteristics of stroke sit-to-stand may be to provide assistive knee extension torque with a powered exoskeleton. To perform research on the biomechanical effects of assisting sit-to-stand, a unilateral powered knee exoskeleton is required, which can accurately control torque. This paper introduces a novel series elastic actuator capable of producing the full torques and speeds required for sit-to-stand (80 Nm, 3 rad/s). It utilizes a unique transmission configuration with a series fiberglass beam spring that improves torque-control and reduces output impedance. The actuator is incorporated into a unilateral orthosis and a high-level sit-to-stand controller is implemented. A small validation study with three able-bodied subjects performing sit-to-stand is presented, demonstrating the ability to appropriately provide assistance.
机译：脑卒中后偏瘫患者经常表现出行动不便，特别是在下肢扭矩要求较高的任务中。从坐姿到站姿的过渡始终以不对称腿和不受影响腿之间的不对称承重为特征。一种改善坐姿到站立姿势的特性的方法可以是通过动力外骨骼提供辅助的膝盖伸展扭矩。为了研究辅助坐姿的生物力学效果，需要单侧动力膝关节外骨骼，它可以精确地控制扭矩。本文介绍了一种新型系列弹性执行器，该执行器能够产生从坐到站所需的全部扭矩和速度（80 Nm，3 rad / s）。它利用独特的传动配置和一系列玻璃纤维梁弹簧来改善扭矩控制并降低输出阻抗。该执行器被整合到一个单侧矫形器中，并实现了一个高级的坐立式控制器。提出了一个小型验证研究，其中三个健壮的受试者坐在一起站立，证明了适当提供协助的能力。

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