Wijegunawardana I D, Kumara M B K, De Silva H H M J, Viduranga P K P, Ranaweera R K P S, Gopura R A R C, Madusanka D G K
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:587-592. doi: 10.1109/ICORR.2019.8779501.
This paper proposes a robotic exoskeleton chair, named ChairX, for providing sitting assistance for the industrial workers who need to carry out tasks at different crouched postures repetitively. It can act as a customizable chair to support bodyweight for relieving the lower extremity and provide freedom for ambulation when moving between workstations. In comparison to the predecessors, the ChairX is designed to assist the user for assuming crouched positions with forward- as well as backward-inclined leg angles. Moreover, it is flexible to provide sitting assistance at different heights to ensure ergonomics at work The ChairX includes a knee-centered locking mechanism on the lateral side and an active linkage mechanism on the posterior of the leg to support the weight of the user at various seated positions. A mathematical model was formulated to optimize the system parameters and a prototype was built to carry out the physical tests. The results revealed that ChairX can maintain stability and reduce the musculoskeletal strains effectively, thus has the potential to improve the quality of work.
本文提出了一种名为ChairX的机器人外骨骼座椅，用于为需要反复以不同蹲姿执行任务的产业工人提供坐姿辅助。它可以作为一把可定制的椅子来支撑体重，以减轻下肢负担，并在工作站之间移动时提供行走自由。与前代产品相比，ChairX旨在帮助用户以向前和向后倾斜的腿部角度保持蹲姿。此外，它可以在不同高度灵活地提供坐姿辅助，以确保工作时的人体工程学。ChairX在侧面包括一个以膝盖为中心的锁定机构，在腿部后方包括一个主动连杆机构，以在各种坐姿下支撑用户的体重。建立了一个数学模型来优化系统参数，并制作了一个原型进行物理测试。结果表明，ChairX可以有效保持稳定性并减少肌肉骨骼劳损，因此具有提高工作质量的潜力。
