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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Biomechanical Design of a Novel Flexible Exoskeleton for Lower Extremities
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Biomechanical Design of a Novel Flexible Exoskeleton for Lower Extremities

机译：下肢新型柔性外骨骼的生物力学设计

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This paper presents a novel wearable walking assistance device for the elderly to provide physical gait assistance. The wearable device, to be worn invisibly underneath clothes, not only fits tightly to the wearer's lower body, but also comfortably transmits assistive torque to the wearer's hip/knee joint. To overcome deficiencies in the usability of conventional wearable walking assistance devices, two novel features are proposed: 1) a unique flexible support frame that withstands vertical loads while maintaining the natural curvature of the wearer's lower body; and 2) a kinematically similar anthropomorphic joint that minimizes the unintended resistance force during the wearer's usual motions. The developed wearable walking assistance device based on these features was verified by simulations and experiments whose results are described.
机译：本文提出了一种新型的老人可穿戴步行辅助装置，以提供身体步态辅助。这种可穿戴设备将隐形地穿在衣服下面，不仅可以紧紧地固定在穿着者的下半身上，而且还可以将辅助扭矩舒适地传递到穿着者的髋/膝关节。为了克服传统的可穿戴步行辅助设备的可用性的不足，提出了两个新颖的特征：1）独特的柔性支撑框架，可承受垂直载荷，同时保持佩戴者下半身的自然弯曲； 2）运动学上类似的拟人关节，可最大程度地减少穿着者正常运动过程中的意外阻力。通过仿真和实验验证了开发的基于这些特征的可穿戴步行辅助设备，并描述了其结果。

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