Departamento de Ingeniería Mecánica, Energética y de los Materiales, Escuela de Ingenierías Industriales, Universidad de Extremadura, Avda. de Elvas S/N, 06006 Badajoz, Spain.
Sensors (Basel). 2023 May 12;23(10):4713. doi: 10.3390/s23104713.
Ageing results in the eventual loss of muscle mass and strength, joint problems, and overall slowing of movements, with a greater risk of suffering falls or other such accidents. The use of gait assistance exoskeletons can help in the active aging of this segment of the population. Given the user specificity of the mechanics and control these devices need, the facility used to test different design parameters is indispensable. This work deals with the modeling and construction of a modular test bench and prototype exosuit to test different mounting and control schemes for a cable-driven exoskeleton or exosuit. The test bench allows the experimental implementation of postural or kinematic synergies to assist multiple joints by using only one actuator and the optimization of the control scheme to better adapt to the characteristics of the specific patient. The design is open to the research community and it is expected to improve the design of cable-driven systems for exosuits.
衰老是导致肌肉质量和力量逐渐丧失、关节问题以及整体运动速度减慢的最终结果，这会增加摔倒或其他此类事故的风险。使用步态辅助外骨骼可以帮助这一年龄段的人实现积极老龄化。鉴于这些设备的机械结构和控制需要用户的特异性，用于测试不同设计参数的设施是不可或缺的。这项工作涉及模块化测试台和原型外骨骼的建模和构建，以测试用于缆索驱动外骨骼或外骨骼的不同安装和控制方案。该测试台允许通过仅使用一个执行器来实现姿势或运动协同，以辅助多个关节，并通过优化控制方案来更好地适应特定患者的特征。该设计对研究界开放，并有望改进外骨骼缆索驱动系统的设计。
