基于开关的单一电机的独立对手驱动器,用于软外套
概括
本研究引入了一种用于电缆驱动软外套的基于开关的新型机制,减少多度自由度 (DoF) 系统中的执行器需求. 这项创新简化了用于康复和辅助应用的外骨设计.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物机械学是生物机械学.
- 机械工程 机械工程
背景情况:
- 电缆驱动软外套面临机械设计的挑战,特别是多度自由度 (DoF) 执行.
- 当前的解决方案往往需要每个DoF多个执行器,这限制了复杂的多关节外骨架的实用性.
研究的目的:
- 提出和评估一种基于开关的新型机制,用于控制软外衣中的对抗性电缆对.
- 为了减少在外骨架系统中多DoF执行所需的执行器的数量.
主要方法:
- 开发一种基于开关的机制来控制对立的电缆对.
- 测试机制在任意电缆路径几何上执行的能力.
- 测量与电缆之间的切换相关的时间延迟.
主要成果:
- 拟议的机制允许在任何电缆路径几何上使用减少数量的执行器来执行.
- 在电缆之间记录了298.24毫秒的切换时间.
- 在未来的代中,通过优化电机选择,可以减少观察到的延迟.
结论:
- 基于开关的机制为设计有线驱动软外套和外套手套提供了一种简化和通用化的方法.
- 这一创新为更通用的外骨平台铺平了道路,用于临床康复和个人辅助使用.
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