A Parallel Compliant Leg for energy efficient walking of exoskeleton–walker systems

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Mechatronics Pub Date : 2023-12-28 DOI:10.1016/j.mechatronics.2023.103110

Long Zhang , Guangkui Song , Chen Yang , Chaobin Zou , Hong Cheng , Rui Huang , Jing Qiu , Ziguang Yin

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Abstract

Lower limb exoskeletons have garnered significant attention for their effectiveness in gait training for paraplegic patients. For patients with insufficient trunk or upper limb strength to maintain balance, employing an unpowered robotic walker with an exoskeleton for gait training is an effective approach. The energy efficiency of the actuation system is a pivotal consideration in the design of the exoskeleton–walker system due to its significant influence on the system’s durability and service efficiency. The main contribution of this paper is the development of a Parallel Compliant Leg (PCL) for the exoskeleton–walker system. The PCL consists of both powered legs of the exoskeleton and a passive flexible mechanism within the walker. This integration allows for the storage and release of energy during cyclic walking, resulting in reduced system energy consumption. To enhance energy efficiency, the support force optimization of the flexible mechanism is established. Based on this optimization, a design scheme and parameter optimization for the flexible mechanism are proposed. The effectiveness of the proposed flexible mechanism is verified through simulations on a robot simulation platform. Experimental results demonstrate a remarkable 67.6% reduction in system energy consumption achieved by the optimized mechanism.

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用于外骨骼-步行者系统节能行走的平行顺应腿

下肢外骨骼因其在截瘫患者步态训练中的有效性而备受关注。对于躯干或上肢力量不足以保持平衡的患者来说，使用无动力机器人助行器和外骨骼进行步态训练是一种有效的方法。驱动系统的能效是外骨骼助行器系统设计中的一个关键考虑因素，因为它对系统的耐用性和服务效率有重大影响。本文的主要贡献在于为外骨骼行走系统开发了平行顺应腿（PCL）。PCL 由外骨骼的动力腿和助行器内的被动柔性机构组成。这种整合可在循环行走过程中储存和释放能量，从而降低系统能耗。为了提高能效，对柔性机构的支撑力进行了优化。在此优化基础上，提出了柔性机构的设计方案和参数优化。通过在机器人仿真平台上进行仿真，验证了所提出的柔性机构的有效性。实验结果表明，优化后的机构显著降低了 67.6% 的系统能耗。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.