一个刚性-灵活的合下肢外骨架,用于增强承载能力的行走.
Yong-Tang Tian1,2, Chun-Jie Chen2, Xiao-Jun Wu1
1School of Mechanical and Electrical Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China.
Biomimetics (Basel, Switzerland)
|November 26, 2025
概括
这项研究介绍了一种新的刚性软性合下肢外骨架. 它有效地转移负载,并在承重活动中降低代谢成本,增强人类的功能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 人类增强器的人类增强器
背景情况:
- 下肢外骨架旨在增强人类的功能.
- 一个关键的挑战是提高负载能力,同时最大限度地降低代谢成本.
- 现有的设计往往难以平衡这些相互竞争的要求.
研究的目的:
- 为了展示一个新的下肢外骨架,整合了刚性和灵活的结构.
- 为了评估外骨在关节的负载转移能力.
- 评估有或没有主动辅助的代谢成本的降低.
主要方法:
- 这项研究采用了一种新的刚软合下肢外骨架设计.
- 用10公斤和15公斤的负载在静态站立和动态走路时进行负载转移实验.
- 进行了代谢成本实验,比较15公斤负载的无外骨 (NE),关闭辅助 (Assist OFF) 和启动辅助 (Assist ON) 模式.
主要成果:
- 静态负载转移率达到90.48% (10公斤) 和69.70% (15公斤).
- 动态步行负载转移率为62.07% (10公斤) 和43.69% (15公斤).
- 与NE相比,代谢成本降低了8.3% (辅助关闭) 和21.61% (辅助启动). 与Assist OFF相比,Assist ON进一步降低了13.22%的成本.
结论:
- 刚性-软性合外骨显示出显著的负载转移能力.
- 该设备在承重任务期间有效降低了代谢成本.
- 这项技术有可能提高人类在需要载荷运输的活动中的表现.
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