Baud Romain, Fasola Jemina, Vouga Tristan, Ijspeert Auke, Bouri Mohamed
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:849-854. doi: 10.1109/ICORR.2019.8779440.
This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the position of the contact point with the floor, which allows to stabilize without an actuated ankle.This controller is biologically inspired, originating from a previous experiment with the passive exoskeleton CAPTUR and healthy subjects. Then, a simulation model was built to test the observed balance strategy. Finally, the controller was implemented on the actual actuated exoskeleton, without a wearer for the time being, to experimentally check the basic operation. The next planned step is to test its actual performance with healthy subjects, then paraplegic patients.
本文提出了一种在全动员外骨骼中实现自动站立平衡的新方法。它利用了外骨骼TWIICE锁定的脚踝和弯曲的鞋底。其思路是利用膝盖滚动鞋底并改变与地面接触点的位置，从而在没有驱动脚踝的情况下实现稳定。该控制器受生物启发，源自之前对被动外骨骼CAPTUR和健康受试者的实验。然后，建立了一个仿真模型来测试观察到的平衡策略。最后，该控制器在实际的驱动外骨骼上实现，目前没有穿戴者，以通过实验检查其基本操作。接下来计划的步骤是先对健康受试者测试其实际性能，然后对截瘫患者进行测试。
