优化可变刚度整形骨架的力学与能量回收,以减轻脚下降
Emily A Bywater1,2, Nikko Van Crey1, Elliott J Rouse1,2
1Robotics Department, University of Michigan, Ann Arbor, MI 48109, USA.
概括
这项研究优化了一种新型的脚-脚修复模块,用于脚下降,增强脚运动和走路时的能量循环. 优化的设计改善了摆动角度和能量回报,以获得更好的步行辅助.
科学领域:
- 生物力学 生物力学
- 康复工程 康复工程
- 整形矯正器具 整形矯正器具
背景情况:
- 设计脚脚 (AFOs) 来实现特定的脚机制是复杂的.
- 可变刚度整形 (VSO) 提供可定制的扭矩-角度关系,使用基于凸轮的传动.
- 一个关键模块,解的能量存储和返回 (DESR) 模块,可以在脚功能中进行动态调整.
研究的目的:
- 开发一个优化框架,为AFOs设计DESR模块,以解决落脚问题.
- 创建两个不同的DESR模块设计:一个最大化摆动脚角度,另一个最大化能量回收.
主要方法:
- 开发了一个优化框架来设计DESR模块.
- "角度模块"被优化为最大的摆动背部屈曲.
- 优化了"能量模块",以最大限度地利用从静止阶段回收的能量.
- 结果通过使用粗暴力搜索和在旋转动力表上进行实证测试来验证.
主要成果:
- 角度模块实现了高达0.63°的摆动背部屈曲,同时允许横向屈曲的站立角度.
- 能量模块成功回收了高达1.84 J的能量.
- 优化框架为特定的功能目标提供了有效的设计.
结论:
- 开发的优化框架成功为AFOs设计了DESR模块.
- 优化的模块显示了通过增强脚移动性和能源效率来改善脚落下的个体的步态的潜力.
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