用于膝关节辅助的集成式液压驱动可穿戴机器人

doi:10.1007/s12204-023-2602-2

J Shanghai Jiaotong Univ Sci ›› 2023, Vol. 28 ›› Issue (3): 289-295.doi: 10.1007/s12204-023-2602-2

• • 下一篇

用于膝关节辅助的集成式液压驱动可穿戴机器人

赵亚飞¹，黄超逸²，邹玉莹²，邹可涵¹，邹笑阳⁴，薛嘉琦⁴，李晓婷⁴，KOH Keng Huat⁴，王小军³，赖伟超⁴，胡勇³，席宁¹，王峥⁵

(1. 香港大学工业及制造系统工程系，香港； 2. 香港大学机械工程系，香港；3. 香港大学矫型及创伤外科学系，香港；4. 香港城市大学生物医学工程系，香港；5. 南方科技大学机械与能源工程系，广东深圳518055)

收稿日期:2022-10-15 修回日期:2023-02-09 接受日期:2023-05-28 出版日期:2023-05-28 发布日期:2023-05-22

Integrated Hydraulic-Driven Wearable Robot for Knee Assistance

ZHAO Yafei¹(赵亚飞)，HUANG Chaoyi²(黄超逸)，ZOU Yuging³(邹玉莹)，ZOU Kehan¹(邹可涵),ZOU Xiaogang⁴(邹笑阳)，XUE .Jiaqi⁴(薛嘉琦)，LI Xiaoting⁴(李晓婷)，KOH Keng Huat⁴，WANG Xiaojun^{3(王小军),LAI Wai Chiu King⁴(赖伟超),HU Yong³(胡勇)，XI Ning^1*(席宁)，WANG Zheng^5*(王峥)}

(1. Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, China; 2. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China; 3. Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China; 4. Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China; 5. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, Guangdong, China)

Received:2022-10-15 Revised:2023-02-09 Accepted:2023-05-28 Online:2023-05-28 Published:2023-05-22

摘要/Abstract

摘要： 与衰老过程有关的疾病可能导致膝关节功能失调，因此需要以可穿戴机器人护膝的形式提供膝关节援助。然而，现有的可穿戴机器人在协助老年人的日常活动中面临着力的有效传递和适应人体运动的困难。尽管软体驱动器已被广泛用于可穿戴机器人中，在便携的基础上实现快速响应和运动控制仍然是一个挑战。针对这些问题，我们提出了一个集成多传感器和直驱液压驱动系统的软体护膝机器人系统。我们在便携式液压系统中实现了可控和快速的力输出。多传感器的反馈使机器人系统能够通过人的生理信号和动作信息与人体进行协作。人类用户的测试结果验证了该膝关节机器人可以通过肌电信号触发而向膝关节提供辅助扭矩。

关键词: 可穿戴机器人, 软体机器人, 辅助设备

Abstract: Age-related diseases can lead to knee joint misfunction, making knee assistance necessary through the use of robotic wearable braces. However, existing wearable robots face challenges in force transmission and human motion adaptation, particularly among the elderly. Although soft actuators have been used in wearable robots, achieving rapid response and motion control while maintaining portability remains challenging. To address these issues, we propose a soft-robotic knee brace system integrated with multiple sensors and a direct-drive hydraulic actuation system. This approach allows for controlled and rapid force output on the portable hydraulic system. The multi-sensor feedback structure enables the robotic system to collaborate with the human body through human physiological signal and body motion information. The human user tests demonstrate that the knee robot provides assistive torques to the knee joint by being triggered by the electromyography signal and under human motion control.

中图分类号:

P 242.6

赵亚飞, 黄超逸, 邹玉莹, 邹可涵, 邹笑阳, 薛嘉琦, 李晓婷, KOH Keng Huat, 王小军, 赖伟超, 胡勇, 席宁, 王峥. 用于膝关节辅助的集成式液压驱动可穿戴机器人[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 289-295.

ZHAO Yafei (赵亚飞), HUANG Chaoyi (黄超逸), ZOU Yuging(邹玉莹), ZOUKehan(邹可涵), zoU Xiaogang(邹笑阳), XUE .Jiaqi(薛嘉琦), LI Xiaoting(李晓婷), KOH Keng Huat, WANG Xiaojun(王小军), LAI Wai Chiu King(赖伟超), HU Yong(胡勇), XI Ning(席宁), WANG Zheng(王峥). Integrated Hydraulic-Driven Wearable Robot for Knee Assistance[J]. J Shanghai Jiaotong Univ Sci, 2023, 28(3): 289-295.

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用于膝关节辅助的集成式液压驱动可穿戴机器人

Integrated Hydraulic-Driven Wearable Robot for Knee Assistance

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