PCO Nhac Ltd., Kyungpook National University, Daegu 41566, Korea.
Humanoid Robotics Laboratory, Department of Artificial Intelligence, Department of Robot & Smart System Engineering, Kyungpook National University, Daegu 41566, Korea.
Sensors (Basel). 2021 Jun 11;21(12):4037. doi: 10.3390/s21124037.
This paper proposes a device that can change the payload of an unpowered lower-limb exoskeleton supporting the weights of humans and loads. Our previous exoskeletons used a cam-follower structure with a spring applied to the hip joint. This exoskeleton showed satisfying performance within the payload; however, the performance decreased when the payload was exceeded. Therefore, a payload adjustment device that can adjust the wearer's required torque by easily applying it to the cam-follower structure was developed. An exoskeleton dynamic equation that can calculate a person's required joint torque given the required payload and the wearer's posture was derived. This dynamic equation provides a guideline for designing a device that can adjust the allowable joint torque range of an unpowered exoskeleton. In the Adams simulation environment, the payload adjustment device is applied to the cam-follower structure to show that the payload of the exoskeleton can be changed. User convenience and mass production were taken into account in the design of this device. This payload adjustment device should flexibly change the payload of the level desired by the wearer because it can quickly change the payload of the exoskeleton.
本文提出了一种能够改变无动力下肢外骨骼承载人体重量和负载的有效负载的装置。我们之前的外骨骼使用了带有安装在髋关节上的弹簧的凸轮随动结构。该外骨骼在有效负载范围内表现出了令人满意的性能；然而，当超过有效负载时，性能会下降。因此，开发了一种能够通过轻松地将其应用于凸轮随动结构来调整穿戴者所需扭矩的有效负载调整装置。导出了一个外骨骼动力学方程，该方程可以根据所需的有效负载和穿戴者的姿势计算出所需的关节扭矩。这个动力学方程为设计能够调整无动力外骨骼的允许关节扭矩范围的装置提供了指导。在 Adams 仿真环境中，将有效负载调整装置应用于凸轮随动结构，以展示外骨骼的有效负载可以改变。在设计该装置时，考虑了用户的便利性和批量生产。这种有效负载调整装置应该能够灵活地改变穿戴者所需的有效负载，因为它可以快速改变外骨骼的有效负载。
