Wearable ankle assistance robot for a human walking with different loads
-
Published:2023-10-11
Issue:2
Volume:14
Page:429-438
-
ISSN:2191-916X
-
Container-title:Mechanical Sciences
-
language:en
-
Short-container-title:Mech. Sci.
Author:
Li Junqiang,Yang Kuan,Yang Dong
Abstract
Abstract. To reduce energy consumption while a human is walking with
different loads, an active energy storage mechanism and a gait cycle
prediction method are proposed, and then a wearable ankle assistance robot
is developed. A motor, a clutch, and elastic rods are placed strategically in
the active energy storage mechanism to achieve energy storage and release.
During the period when the ankle does not generate torque, the clutch is
closed, and the elastic rods are driven by the motor to produce deformation
for energy storage. When the ankle generates torque, the motor is stopped
and the clutch is opened, and then energy is released. Assisted force is
transmitted to the human heel by a flexible transmission device to achieve
walking assistance. The deformation length of the elastic rods can be
changed to achieve assisted force adjustment for different loads. Based on
the hip angular displacement and heel pressure, the gait cycle can be
obtained with the proposed prediction method, and then assistance control
can be achieved. Consequently, the development of a wearable ankle
assistance robot is realized, a walking assistance experiment with different
loads is completed, and the net metabolic cost is used to indicate the
energy consumption. The experimental results show that the net metabolic
cost of the participants is reduced by averages of 5.30 %, 5.67 %, and
4.84 % with 0, 4, and 8 kg loads respectively. The reduced net
metabolic costs are compared with other research results; the reduced net
metabolic costs are close to the others, but the motor power in this work is
lower.
Funder
National Natural Science Foundation of China
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference31 articles.
1. Asbeck, A. T., De Rossi, S. M., Holt, K. G., and Walsh, C. J.: A
biologically inspired soft exosuit for walking assistance, Int. J. Rob. Res.,
34, 744–762, https://doi.org/10.1177/0278364914562476, 2015. 2. Browning, R. C., Modica, J. R., Kram, R., and Goswami, A.: The effects of
adding mass to the legs on the energetics and biomechanics of walking, Med.
Sci. Sports Exerc., 39, 515–525, https://doi.org/10.1249/mss.0b013e31802b3562, 2007. 3. Collins, S., Ruina, A., Tedrake, R., and Wisse, M.: Efficient bipedal robots
based on passive-dynamic walkers, Science, 307, 1082–1085,
https://doi.org/10.1126/science.1107799, 2005. 4. Collins, S. H., Wiggin, M. B., and Sawicki, G. S.: Reducing the energy cost
of human walking using an unpowered exoskeleton, Nature, 522, 212–215,
https://doi.org/10.1038/nature14288, 2015. 5. Dai, K. R. and Tang, R. G.: Observation of gait when walking at normal speed
on the ground, Chin. J. Biomed. Eng., 1, 15–21, 1982.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
|
|