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.
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
. Integrated Hydraulic-Driven Wearable Robot for Knee Assistance[J]. Journal of Shanghai Jiaotong University(Science), 2023
, 28(3)
: 289
-295
.
DOI: 10.1007/s12204-023-2602-2
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