采用恒力弹簧的外骨骼关节重力补偿

Parker W. Hill, E. Wolbrecht, J. Perry
{"title":"采用恒力弹簧的外骨骼关节重力补偿","authors":"Parker W. Hill, E. Wolbrecht, J. Perry","doi":"10.1109/ICORR.2019.8779422","DOIUrl":null,"url":null,"abstract":"Stroke is one of the leading causes of impairment in the world. Many of those who have suffered a stroke experience long-term loss of upper-limb function as a result. BLUE SABINO is an exoskeleton device being developed at the University of Idaho to help assess these patients and aid in their rehabilitation. One of the central design challenges with exoskeletons is limiting the overall weight of the device. Motors used in actuation of these devices are often oversized to allow gravity balancing of the device and user and the creation of torques to facilitate patient movements. If the torques required for gravity balancing are achieved through elastic elements, the motor and other upstream components can be lighter, potentially greatly reducing the overall weight of the device. In this paper, constant-force springs may provide an effective method of generating a constant offsetting torque to compensate for gravity. In experimental testing of multiple mounting configurations of C-shaped constant-force springs (single, back-to-back, double-wrapped), the force output fluctuated less than 8.6% over 180° of wrapping, with friction values below 2.6%, validating the viability of constant-force springs for this application. The results suggest the back-to-back configuration provides a simpler implementation with better force consistency while the double-wrapped configuration adds less friction to the system.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Gravity Compensation of an Exoskeleton Joint Using Constant-Force Springs\",\"authors\":\"Parker W. Hill, E. Wolbrecht, J. Perry\",\"doi\":\"10.1109/ICORR.2019.8779422\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Stroke is one of the leading causes of impairment in the world. Many of those who have suffered a stroke experience long-term loss of upper-limb function as a result. BLUE SABINO is an exoskeleton device being developed at the University of Idaho to help assess these patients and aid in their rehabilitation. One of the central design challenges with exoskeletons is limiting the overall weight of the device. Motors used in actuation of these devices are often oversized to allow gravity balancing of the device and user and the creation of torques to facilitate patient movements. If the torques required for gravity balancing are achieved through elastic elements, the motor and other upstream components can be lighter, potentially greatly reducing the overall weight of the device. In this paper, constant-force springs may provide an effective method of generating a constant offsetting torque to compensate for gravity. In experimental testing of multiple mounting configurations of C-shaped constant-force springs (single, back-to-back, double-wrapped), the force output fluctuated less than 8.6% over 180° of wrapping, with friction values below 2.6%, validating the viability of constant-force springs for this application. The results suggest the back-to-back configuration provides a simpler implementation with better force consistency while the double-wrapped configuration adds less friction to the system.\",\"PeriodicalId\":130415,\"journal\":{\"name\":\"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)\",\"volume\":\"19 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICORR.2019.8779422\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2019.8779422","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12

摘要

中风是世界上造成损害的主要原因之一。许多中风患者会因此长期丧失上肢功能。BLUE SABINO是爱达荷大学开发的一种外骨骼设备,可以帮助评估这些患者并帮助他们康复。外骨骼的核心设计挑战之一是限制设备的整体重量。用于驱动这些设备的电机通常是超大的,以允许设备和用户的重力平衡,并产生扭矩,以促进患者的运动。如果通过弹性元件实现重力平衡所需的扭矩,则电机和其他上游组件可以更轻,从而可能大大降低设备的整体重量。在本文中,恒力弹簧可以提供一种有效的方法来产生恒定的补偿扭矩来补偿重力。在c型恒力弹簧的多种安装配置(单、背对背、双缠绕)的实验测试中,在180°缠绕过程中,力输出波动小于8.6%,摩擦值低于2.6%,验证了恒力弹簧在该应用中的可行性。结果表明,背靠背结构提供了更简单的实现和更好的力一致性,而双缠绕结构增加了系统的摩擦。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Gravity Compensation of an Exoskeleton Joint Using Constant-Force Springs
Stroke is one of the leading causes of impairment in the world. Many of those who have suffered a stroke experience long-term loss of upper-limb function as a result. BLUE SABINO is an exoskeleton device being developed at the University of Idaho to help assess these patients and aid in their rehabilitation. One of the central design challenges with exoskeletons is limiting the overall weight of the device. Motors used in actuation of these devices are often oversized to allow gravity balancing of the device and user and the creation of torques to facilitate patient movements. If the torques required for gravity balancing are achieved through elastic elements, the motor and other upstream components can be lighter, potentially greatly reducing the overall weight of the device. In this paper, constant-force springs may provide an effective method of generating a constant offsetting torque to compensate for gravity. In experimental testing of multiple mounting configurations of C-shaped constant-force springs (single, back-to-back, double-wrapped), the force output fluctuated less than 8.6% over 180° of wrapping, with friction values below 2.6%, validating the viability of constant-force springs for this application. The results suggest the back-to-back configuration provides a simpler implementation with better force consistency while the double-wrapped configuration adds less friction to the system.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Predictive Simulation of Human Walking Augmented by a Powered Ankle Exoskeleton Pattern recognition and direct control home use of a multi-articulating hand prosthesis Feasibility study: Towards Estimation of Fatigue Level in Robot-Assisted Exercise for Cardiac Rehabilitation Performance Evaluation of EEG/EMG Fusion Methods for Motion Classification Texture Discrimination using a Soft Biomimetic Finger for Prosthetic Applications
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1