外骨骼
执行机构
动力外骨骼
刚度
计算机科学
运动(物理)
工程类
弦(物理)
模拟
控制工程
人工智能
结构工程
数学
数学物理
作者
Kaizhen Huang,Jun Xu,Tianyi Zhang,Yonghua Lü,Lei Xu,Youfu Li
标识
DOI:10.1109/icarm58088.2023.10218928
摘要
Exoskeletons have been utilized to enhance human movement capabilities; however, most of exoskeletons are typically limited by the small-range stiffness of actuators. Furthermore, these exoskeletons are not comfortable to wear due to the rigid structures. This letter proposes a soft exoskeleton with twisted string actuators to assist knee joint movement. The mechanical structure and dynamics model of the exoskeleton robotic system is introduced, where the variable-stiffness actuator with twisted strings is able to provide controllable walking assistance and improve users' comfort. In addition, the users motion intention is detected through biomedical signal, and an assist-as-need control strategy is proposed to enhance assistance efficiency. Finally, the effectiveness of the proposed exoskeleton is verified empirically.
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