Design and Fabrication of a Lightweight and Wearable Semi-Rigid Robotic Knee Chain Exoskeleton

Diego Rivera, Mojtaba Sharifi
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Abstract

Abstract With the population of people affected by lower limb disability and physical impairments continuing to grow, engineers in response have begun to develop exoskeletons designed to assist and rehabilitate those in need. While there have been great strides and advancements in the development of exoskeletons, many of them are still too cumbersome, heavy, and expensive for most people. The project described in this paper aims to design and manufacture a wearable robotic knee exoskeleton that helps solve some of the drawbacks that exoskeletons have today. The exoskeleton is designed with lightweight and durable three-dimensional (3D)-printed PETG, TPU, and PLA components combined with soft, flexible, and wearable materials to achieve improved human–robot interaction while providing support when bending and extending the knee joint. The three main assemblies designed in this project were a 3D-printed semirigid knee chain, a 3D-printed flexible shin brace, and a motor actuator assembly mounted on a carbon fiber back plate. The semirigid knee chain is actuated using a Bowden cable which allows the heavy motor to be relocated onto the user's back. solidworks topology optimization and finite element analysis (FEA) were used to reduce weight while keeping the overall strength of the chain and ensuring the safety factor of 2. The exoskeleton was observed to be able to withstand applied torques of up to 29 N·m during the walking functionality test. This exoskeleton is also designed to be integrated into a larger hip exoskeleton system.
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轻量化可穿戴半刚性机器人膝关节链外骨骼的设计与制造
随着受下肢残疾和身体损伤影响的人口持续增长,工程师们开始开发外骨骼,旨在帮助和康复那些有需要的人。虽然外骨骼的发展已经取得了很大的进步,但对大多数人来说,许多外骨骼仍然过于笨重、昂贵。本文描述的项目旨在设计和制造一种可穿戴的机器人膝关节外骨骼,以帮助解决目前外骨骼的一些缺点。外骨骼设计采用轻质耐用的三维(3D)打印PETG, TPU和PLA组件,结合柔软,柔性和可穿戴材料,以实现改进的人机交互,同时在弯曲和伸展膝关节时提供支撑。在这个项目中设计的三个主要组件是3d打印的半刚性膝盖链,3d打印的柔性胫骨支架和安装在碳纤维背板上的电机执行器组件。半刚性膝盖链使用鲍登电缆驱动,该电缆允许重型电机重新定位到用户的背部。采用solidworks拓扑优化和有限元分析(FEA),在保证链条整体强度和安全系数为2的前提下减轻链条重量。在行走功能测试期间,观察到外骨骼能够承受高达29 N·m的施加扭矩。这种外骨骼也被设计成集成到一个更大的髋关节外骨骼系统中。
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