Annu Int Conf IEEE Eng Med Biol Soc. 2022 Jul;2022:2878-2881. doi: 10.1109/EMBC48229.2022.9871317.
Humans are intrinsically unstable in quiet stance from a rigid body system viewpoint; however, they maintain balance thanks to neuro-muscular sensory properties whilst still exhibiting postural sway characteristics. This work intro-duces a one-degree-of-freedom supernumerary tail for balance augmentation in the sagittal plane to negate anterior-posterior postural sway. Simulations showed that the tail could success-fully balance a human with impaired ankle stiffness and neural control. Insights into tail design and control were made; namely, to minimise muscular load the tail must have a significant component in the direction of the muscle, mounting location of the tail is significant in maximising inertial properties for balance augmentation and that adaptive control of the tail will be best suited for different loads held by a wearer.
从刚性体系统的角度来看，人类在静止状态下本质上是不稳定的；然而，由于神经肌肉感觉特性，他们在保持平衡的同时仍表现出姿势摆动特征。本工作引入了一个一自由度的冗余尾巴，用于在矢状面增加平衡，以抵消前后姿势摆动。模拟表明，尾巴可以成功地平衡脚踝僵硬和神经控制受损的人。对尾巴的设计和控制有了深入的了解；即，为了最小化肌肉负荷，尾巴必须在肌肉方向上有一个显著的分量，尾巴的安装位置对于最大化平衡增强的惯性特性很重要，并且尾巴的自适应控制将最适合不同的由佩戴者持有的负载。
