Bacek Tomislav, Moltedo Marta, Langlois Kevin, Prieto Guillermo Asin, Sanchez-Villamanan Maria Carmen, Gonzalez-Vargas Jose, Vanderborght Bram, Lefeber Dirk, Moreno Juan C
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:1666-1671. doi: 10.1109/ICORR.2017.8009487.
This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity, the exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combination of any of the two joints. By employing a simple torque control strategy, the exoskeleton can be used to deliver user-specific assistance, both in gait rehabilitation and in assisting people suffering musculoskeletal impairments. The result of the presented BioMot efforts is a low-footprint exoskeleton with powerful compliant actuators, simple, yet effective torque controller and easily adjustable flexible structure.
本文介绍了在FP7生物运动（BioMot）项目中构建的新型模块化下肢步态外骨骼的设计。该外骨骼在所有6个关节中均采用了可变刚度致动器、定向柔性结构和新型人机物理接口，通过提供被动自由度，使其能够在最大限度减少对用户步态限制的同时提供所需输出。由于具有模块化特点，该外骨骼既可以用作完整的下肢矫形器，也可以在三个关节中的任何一个用作单关节矫形器，还可以在任意两个关节组合用作双关节矫形器。通过采用简单的扭矩控制策略，该外骨骼可用于在步态康复以及协助患有肌肉骨骼损伤的人群时提供针对用户的辅助。所展示的BioMot项目成果是一款占地面积小的外骨骼，它具有强大的柔顺致动器、简单而有效的扭矩控制器以及易于调节的柔性结构。
