可实现跖屈–背屈双向运动辅助的绳驱动踝关节外骨骼

王田苗; 裴轩; 侯涛刚; 樊瑜波; 杨轩; Hugh M. HERR; 杨兴帮

doi:10.1631/FITEE.1900455

Your Location：

Home >

Browse articles >

可实现跖屈–背屈双向运动辅助的绳驱动踝关节外骨骼

智能无人系统专辑 | Updated：2022-05-19

- 可实现跖屈–背屈双向运动辅助的绳驱动踝关节外骨骼
- An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance
- 信息与电子工程前沿（英文） 2020年21卷第5期页码：723-739
- Affiliations：
  
  School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China
  Shenyuan Honors College, Beihang University, Beijing 100083, China
  School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China
  MIT Media Lab, Massachusetts Institute of Technology, Cambridge, MA 02139-4307, USA
  Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
- Author bio：
  
  Hugh M. HERR, E-mail: hherr@media.mit.edu
  Xing-bang YANG, E-mail: xingbang@mit.edu
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 61703023), Beijing Municipal Natural Science Foundation, China (No. 3184054), China Scholarship Council (No. 201706025021), and National Undergraduate Training Programs for Innovation and Entrepreneurship (No. 201910006118)
- DOI：10.1631/FITEE.1900455
  中图分类号： TP242.6
- 收稿：2019-08-30，
  
  修回：2020-;4-30，
  
  纸质出版：2020-05
- Accepted：
Scan QR Code
王田苗, 裴轩, 侯涛刚, 等. 可实现跖屈–背屈双向运动辅助的绳驱动踝关节外骨骼[J]. 信息与电子工程前沿（英文）, 2020,21(5):723-739.

Tian-miao WANG, Xuan PEI, Tao-gang HOU, et al. An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 723-739.
王田苗, 裴轩, 侯涛刚, 等. 可实现跖屈–背屈双向运动辅助的绳驱动踝关节外骨骼[J]. 信息与电子工程前沿（英文）, 2020,21(5):723-739. DOI： 10.1631/FITEE.1900455.

Tian-miao WANG, Xuan PEI, Tao-gang HOU, et al. An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 723-739. DOI： 10.1631/FITEE.1900455.

摘要

下肢外骨骼辅助机器人广泛应用于运动辅助或康复训练。因绳驱动外骨骼具有良好人体顺应性且更加轻便，研究人员研发出一系列绳驱动样机辅助踝关节运动，但其中大多数只能辅助单向运动。本文提出一种可穿戴绳驱动踝关节外骨骼机器人，该外骨骼机器人使用一对单电机分别实现两侧踝关节跖屈-背屈双向运动辅助。该外骨骼主要重量（即电机、供能单元和控制单元）置于人体近端（即腰部）附近，以减少作用在穿戴者下肢的附加转动惯量。设计了基于齿轮-滑轮组件的绳索力传输系统，有效地将动力从电机端传递至末端执行器；设计了动力输出单元中的自张紧装置，用于实现穿戴者行走过程中绳索的张紧；设计了基于足底压力传感器和惯性测量单元（IMU）的步态检测系统，可有效识别步态周期和步行状态。为验证外骨骼动力输出性能，进行力矩跟踪实验。在受试者佩戴该外骨骼并提供主动辅助力情况下，比目鱼肌活动与未佩戴外骨骼状态相比降低5.2%，从而验证该外骨骼的力辅助作用。本文研究表明，该轻型绳驱动外骨骼机器人在人体运动增强或康复训练中具有潜在应用前景。

Abstract

Lower-limb assisted exoskeletons are widely researched for movement assistance or rehabilitation training. Due to advantages of compliance with human body and lightweight

some cable-driven prototypes have been developed

but most of these can assist only unidirectional movement. In this paper we present an untethered cable-driven ankle exoskeleton that can achieve plantarflexion-dorsiflexion bidirectional motion bilaterally using a pair of single motors. The main weights of the exoskeleton

i.e.

the motors

power supplement units

and control units

were placed close to the proximity of the human body

i.e.

the waist

to reduce the redundant rotation inertia which would apply on the wearer's leg. A cable force transmission system based on gear-pulley assemblies was designed to transfer the power from the motor to the end-effector effectively. A cable self-tension device on the power output unit was designed to tension the cable during walking. The gait detection system based on a foot pressure sensor and an inertial measurement unit (IMU) could identify the gait cycle and gait states efficiently. To validate the power output performance of the exoskeleton

a torque tracking experiment was conducted. When the subject was wearing the exoskeleton with power on

the muscle activity of the soleus was reduced by 5.2% compared to the state without wearing the exoskeleton. This preliminarily verifies the positive assistance effect of our exoskeleton. The study in this paper demonstrates the promising application of a lightweight cable-driven exoskeleton on human motion augmentation or rehabilitation.

关键词

Keywords

references

AT Asbeck , , , SMM de Rossi , , , I Galiana , , , 等 . . Stronger, smarter, softer: next-generation wearable robots . . IEEE Robot Autom Mag , , 2014 . . 21 ( ( 4 ): ): 22 - - 33 . . DOI: 10.1109/MRA.2014.2360283 http://doi.org/10.1109/MRA.2014.2360283 . .

LN Awad , , , J Bae , , , K O'donnell , , , 等 . . A soft robotic exosuit improves walking in patients after stroke . . Sci Trans Med , , 2017 . . 9 ( ( 400 ): ): eaai9084 DOI: 10.1126/scitranslmed.aai9084 http://doi.org/10.1126/scitranslmed.aai9084 . .

Y Bai , , , XS Gao , , , J Zhao , , , 等 . . A portable ankle-foot rehabilitation orthosis powered by electric motor . . Open Mech Eng J , , 2015 . . 9 ( ( 1 ): ): 982 - - 991 . . DOI: 10.2174/1874155X01509010982 http://doi.org/10.2174/1874155X01509010982 . .

RC Browning , , , JR Modica , , , R Kram , , , 等 . . The effects of adding mass to the legs on the energetics and biomechanics of walking . . Med Sci Sports Exerc , , 2007 . . 39 ( ( 3 ): ): 515 - - 525 . . DOI: 10.1249/mss.0b013e31802b3562 http://doi.org/10.1249/mss.0b013e31802b3562 . .

MS Cherry , , , S Kota , , , A Young , , , 等 . . Running with an elastic lower limb exoskeleton . . J Appl Biomech , , 2016 . . 32 ( ( 3 ): ): 269 - - 277 . . DOI: 10.1123/jab.2015-0155 http://doi.org/10.1123/jab.2015-0155 . .

SH Collins , , , MB Wiggin , , , GS Sawicki . . Reducing the energy cost of human walking using an unpowered exoskeleton . . Nature , , 2015 . . 522 ( ( 7555 ): ): 212 - - 215 . . DOI: 10.1038/nature14288 http://doi.org/10.1038/nature14288 . .

S Diller , , , C Majidi , , , SH Collins . . A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation . . Proc IEEE Int Conf on Robotics and Automation , , 2016 . . p.682 - - 689 . . DOI: 10.1109/icra.2016.7487194 http://doi.org/10.1109/icra.2016.7487194 . .

TY Dong , , , XL Zhang , , , T Liu . . Artificial muscles for wearable assistance and rehabilitation . . Front Inform Technol Electron Eng , , 2018 . . 19 ( ( 11 ): ): 1303 - - 1315 . . DOI: 10.1631/FITEE.1800618 http://doi.org/10.1631/FITEE.1800618 . .

RJ Farris , , , HA Quintero , , , M Goldfarb . . Preliminary evaluation of a powered lower limb orthosis to aid walking in paraplegic individuals . . IEEE Trans Neur Syst Rehabil Eng , , 2011 . . 19 ( ( 6 ): ): 652 - - 659 . . DOI: 10.1109/TNSRE.2011.2163083 http://doi.org/10.1109/TNSRE.2011.2163083 . .

LW Forrester , , , A Roy , , , HI Krebs , , , 等 . . Ankle training with a robotic device improves hemiparetic gait after a stroke . . Neurorehabil Neur Repair , , 2011 . . 25 ( ( 4 ): ): 369 - - 377 . . DOI: 10.1177/1545968310388291 http://doi.org/10.1177/1545968310388291 . .

S Galle , , , P Malcolm , , , SH Collins , , , 等 . . Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power . . J Neuroeng Rehabil , , 2017 . . 14 ( ( 1 ): ): 35 DOI: 10.1186/s12984-017-0235-0 http://doi.org/10.1186/s12984-017-0235-0 . .

Y He , , , N Li , , , C Wang , , , 等 . . Development of a novel autonomous lower extremity exoskeleton robot for walking assistance . . Front Inform Technol Electron Eng , , 2019 . . 20 ( ( 3 ): ): 318 - - 329 . . DOI: 10.1631/FITEE.1800561 http://doi.org/10.1631/FITEE.1800561 . .

TG Hou , , , XB Yang , , , Y Aiyama , , , 等 . . Design and experiment of a universal two-fingered hand with soft fingertips based on jamming effect . . Mech Mach Theory , , 2019 . . 133 706 - - 719 . . DOI: 10.1016/j.mechmachtheory.2018.12.013 http://doi.org/10.1016/j.mechmachtheory.2018.12.013 . .

S Jatsun , , , S Savin , , , A Yatsun . . Footstep planner algorithm for a lower limb exoskeleton climbing stairs . . Proc 2 nd Int Conf on Interactive Collaborative Robotics , , 2017 . . p.75 - - 82 . . DOI: 10.1007/978-3-319-66471-2_9 http://doi.org/10.1007/978-3-319-66471-2_9 . .

R Jiménez-Fabián , , , O Verlinden . . Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons . . Med Eng Phys , , 2012 . . 34 ( ( 4 ): ): 397 - - 408 . . DOI: 10.1016/j.medengphy.2011.11.018 http://doi.org/10.1016/j.medengphy.2011.11.018 . .

S Kim , , , Y Son , , , S Choi , , , 等 . . Design of a simple, lightweight, passive-elastic ankle exoskeleton supporting ankle joint stiffness . . Rev Sci Instrum , , 2015 . . 86 ( ( 9 ): ): 095107 DOI: 10.1063/1.4930561 http://doi.org/10.1063/1.4930561 . .

JY Kuan , , , KA Pasch , , , HM Herr . . A high-performance cable-drive module for the development of wearable devices . . IEEE/ASME Trans Mech , , 2018 . . 23 ( ( 3 ): ): 1238 - - 1248 . . DOI: 10.1109/TMECH.2018.2822764 http://doi.org/10.1109/TMECH.2018.2822764 . .

BP Kumar , , , CMC Krishnan . . Comparative study of different control algorithms on brushless DC motors . . Proc Biennial Int Conf on Power and Energy Systems: Towards Sustainable Energy , , 2016 . . p.1 - - 5 . . DOI: 10.1109/pestse.2016.7516444 http://doi.org/10.1109/pestse.2016.7516444 . .

S Kyeong , , , W Shin , , , MJ Yang , , , 等 . . Recognition of walking environments and gait period by surface electromyography . . Front Inform Technol Electron Eng , , 2019 . . 20 ( ( 3 ): ): 342 - - 352 . . DOI: 10.1631/FITEE.1800601 http://doi.org/10.1631/FITEE.1800601 . .

C Lairamore , , , MK Garrison , , , W Bandy , , , 等 . . Comparison of tibialis anterior muscle electromyography, ankle angle, and velocity when individuals post stroke walk with different orthoses . . Prosthet Orthot Int , , 2011 . . 35 ( ( 4 ): ): 402 - - 410 . . DOI: 10.1177/0309364611417040 http://doi.org/10.1177/0309364611417040 . .

PY Lin , , , YR Yang , , , SJ Cheng , , , 等 . . The relation between ankle impairments and gait velocity and symmetry in people with stroke . . Arch Phys Med Rehabil , , 2006 . . 87 ( ( 4 ): ): 562 - - 568 . . DOI: 10.1016/j.apmr.2005.12.042 http://doi.org/10.1016/j.apmr.2005.12.042 . .

M Mancini , , , L Chiari , , , L Holmstrom , , , 等 . . Validity and reliability of an IMU-based method to detect APAs prior to gait initiation . . Gait Post , , 2016 . . 43 125 - - 131 . . DOI: 10.1016/j.gaitpost.2015.08.015 http://doi.org/10.1016/j.gaitpost.2015.08.015 . .

C Meijneke , , , W van Dijk , , , H van der Kooij . . Achilles: an autonomous lightweight ankle exoskeleton to provide push-off power . . Proc 5 th IEEE RAS/EMBS Int Conf on Biomedical Robotics and Biomechatronics , , 2014 . . p.918 - - 923 . . http://d.old.wanfangdata.com.cn/Periodical/jfjyxzz201707013 http://d.old.wanfangdata.com.cn/Periodical/jfjyxzz201707013 , , . .

LE Miller , , , AK Zimmermann , , , WG Herbert . . Clinical effectiveness and safety of powered exoskeleton-assisted walking in patients with spinal cord injury: systematic review with meta-analysis . . Med Dev Evid Res , , 2016 . . 9 455 - - 466 . . DOI: 10.2147/mder.s103102 http://doi.org/10.2147/mder.s103102 . .

M Morris , , , M Shoham . . Applications and theoretical issues of cable-driven robots . . Proc Florida Conf on Recent Advances in Robotics , , 2009 . . p.1 - - 29 . . . .

T Noda , , , A Takai , , , T Teramae , , , 等 . . Robotizing double-bar ankle-foot orthosis . . Proc IEEE Int Conf on Robotics and Automation , , 2018 . . p.2782 - - 2787 . . DOI: 10.1109/icra.2018.8462911 http://doi.org/10.1109/icra.2018.8462911 . .

TF Novacheck . . The biomechanics of running . . Gait Post , , 1998 . . 7 ( ( 1 ): ): 77 - - 95 . . DOI: 10.1016/S0966-6362(97)00038-6 http://doi.org/10.1016/S0966-6362(97)00038-6 . .

YL Park , , , BR Chen , , , NO Pérez-Arancibia , , , 等 . . Design and control of a bio-inspired soft wearable robotic device for ankle–foot rehabilitation . . Bioinspir Biomim , , 2014 . . 9 ( ( 1 ): ): 016007 DOI: 10.1088/1748-3182/9/1/016007 http://doi.org/10.1088/1748-3182/9/1/016007 . .

AF Ruiz , , , A Forner-Cordero , , , E Rocon , , , 等 . . Exoskeletons for rehabilitation and motor control . . Proc 1 st IEEE/RAS-EMBS Int Conf on Biomedical Robotics and Biomechatronics , , 2006 . . p.601 - - 606 . . DOI: 10.1109/biorob.2006.1639155 http://doi.org/10.1109/biorob.2006.1639155 . .

BS Rupal , , , A Singla , , , GS Virk . . Lower limb exoskeletons: a brief review . . Proc 22 nd National Conf on Mechanical Engineering and Technology , , 2016 . . p.130 - - 140 . . http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ022135365/ http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ022135365/ , , . .

Y Sankai . . HAL: hybrid assistive limb based on cybernics . . In: Kaneko M, Nakamura Y (Eds.), Robotics Research. Springer Berlin Heidelberg , , 2010 . . p.25 - - 34 . . http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0229876051/ http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0229876051/ , , . .

GS Sawicki , , , NS Khan . . A simple model to estimate plantarflexor muscle–tendon mechanics and energetics during walking with elastic ankle exoskeletons . . IEEE Trans Biomed Eng , , 2016 . . 63 ( ( 5 ): ): 914 - - 923 . . DOI: 10.1109/TBME.2015.2491224 http://doi.org/10.1109/TBME.2015.2491224 . .

KA Shorter , , , GF Kogler , , , E Loth , , , 等 . . A portable powered ankle-foot orthosis for rehabilitation . . J Rehabil Res Dev , , 2011 . . 48 ( ( 4 ): ): 459 - - 472 . . DOI: 10.1682/JRRD.2010.04.0054 http://doi.org/10.1682/JRRD.2010.04.0054 . .

JD Stewart . . Foot drop: where, why and what to do . . Pract Neurol , , 2008 . . 8 ( ( 3 ): ): 158 - - 169 . . DOI: 10.1136/jnnp.2008.149393 http://doi.org/10.1136/jnnp.2008.149393 . .

J Taborri , , , E Palermo , , , S Rossi , , , 等 . . Gait partitioning methods: a systematic review . . Sensors , , 2016 . . 16 ( ( 1 ): ): 66 DOI: 10.3390/s16010066 http://doi.org/10.3390/s16010066 . .

M Wehner , , , B Quinlivan , , , PM Aubin , , , 等 . . A lightweight soft exosuit for gait assistance . . Proc IEEE Int Conf on Robotics and Automation , , 2013 . . p.3362 - - 3369 . . http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=CC0213783154 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=CC0213783154 , , . .

DA Winter . . Biomechanics and Motor Control of Human Movement . . Wiley, Hoboken, USA , , 2009 . . .

KA Witte , , , JJ Zhang , , , RW Jackson , , , 等 . . Design of two lightweight, high-bandwidth torque-controlled ankle exoskeletons . . IEEE Int Conf on Robotics and Automation , , 2015 . . p.1223 - - 1228 . . DOI: 10.1109/icra.2015.7139347 http://doi.org/10.1109/icra.2015.7139347 . .

A Wu , , , XB Yang , , , JY Kuan , , , 等 . . An autonomous exoskeleton for ankle plantarflexion assistance . . Int Conf on Robotics and Automation , , 2019 . . p.1713 - - 1719 . . DOI: 10.1109/icra.2019.8793913 http://doi.org/10.1109/icra.2019.8793913 . .

YF Zhang , , , RJ Kleinmann , , , KJ Nolan , , , 等 . . Preliminary validation of a cable-driven powered ankle–foot orthosis with dual actuation mode . . IEEE Trans Med Robot Bion , , 2019 . . 1 ( ( 1 ): ): 30 - - 37 . . DOI: 10.1109/TMRB.2019.2895787 http://doi.org/10.1109/TMRB.2019.2895787 . .

A Zoss , , , H Kazerooni , , , A Chu . . On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) . . IEEE/RSJ Int Conf on Intelligent Robots and Systems , , 2005 . . p.3465 - - 3472 . . DOI: 10.1109/iros.2005.1545453 http://doi.org/10.1109/iros.2005.1545453 . .

浏览量

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

暂无数据