Yildirim Mehmet C, Kansizoglu Ahmet Talha, Emre Sinan, Derman Mustafa, Coruk Sinan, Soliman Ahmed Fahmy, Sendur Polat, Ugurlu Barkan
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:605-610. doi: 10.1109/ICORR.2019.8779407.
In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint configuration was primarily determined. In order for the exoskeleton to possess advanced characteristics, the following design criteria were investigated: i) all the actuators (hip/knee/ankle) were deployed around the waist area to decrease leg weight and improve wearability, ii) custom-built series elastic actuators were used to power system for high fidelity torque-controllability, iii) 3D walking support is potentially enabled with reduced power requirements. As a result, we built the first actual prototype to experimentally verify the aforementioned design specifications. Furthermore, the preliminary torque control experiments indicated the viability of torque control.
在本文中，我们展示了关于一种外骨骼的设计与开发的研究，该外骨骼旨在以最少数量的致动器提供三维行走支持。在先前的模拟研究之后，关节配置已初步确定。为使外骨骼具备先进特性，研究了以下设计标准：i）所有致动器（髋部/膝部/踝部）均部署在腰部周围，以减轻腿部重量并提高可穿戴性；ii）使用定制的串联弹性致动器为系统提供动力，以实现高保真扭矩可控性；iii）有可能以降低的功率需求实现三维行走支持。结果，我们制造了首个实际原型，以通过实验验证上述设计规格。此外，初步的扭矩控制实验表明了扭矩控制的可行性。
