新型高扭矩助力外骨骼系统：探索多关节步态辅助研究

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本文探讨了下肢外骨骼在提升各类人群如残疾人、老年人、工作者、急救人员和军事人员移动能力方面的潜力。尽管近年来在下肢外骨骼技术上取得了显著进步，但市场上可供商业应用的产品仍相对有限，且大部分研究往往受限于硬件性能。尤其是那些设计有高扭矩和高功率组件的多关节辅助策略，由于现有设备的局限性，它们尚未得到充分的测试。针对这一挑战，研究人员提出了一种创新的臀部-膝盖-脚踝外骨骼模拟器（Hip-Knee-Ankle Exoskeleton Emulator，简称HKAEE）。这款装置旨在解决现有设备无法满足的高性能需求，能够施加与上坡跑步时观察到的同等甚至更大的扭矩和功率。HKAEE的核心特点是配备了强大的离线电机，它们驱动一个13.5公斤重的外骨骼系统，这使得它具备了执行复杂运动任务的能力，包括模拟高负荷条件下的步态辅助。该模拟器的设计和开发考虑到了未来辅助策略的测试需求，能够提供一个理想的研究平台，帮助科学家们深入探究高扭矩和高功率策略对改善运动效率、减少疲劳以及可能的生物力学影响。通过HKAEE，研究者能够更细致地分析这些策略的适用性和潜在效果，从而推动下肢外骨骼技术的进一步发展，并最终提高穿戴者的功能性运动表现和生活质量。此外，本文还可能涉及外骨骼系统的控制算法、适应性设计、舒适度评估以及与人体运动协调性的研究。研究团队可能会探讨如何优化动力传递、减轻重量与能耗、以及如何确保安全性和用户易用性。HKAEE的出现为下肢外骨骼领域的创新提供了新的实验工具，有望推动辅助策略的研发和实际应用的边界。

crossbars. The pulleys run on ball bearings to ensure that

the hip’s inner Bowden cables are redirected towards the

load cell assemblies with minimal friction to reduce cable

force measurement errors. The pulleys are covered by SLS

nylon components that prevent the inner cables from slip-

ping off. The knee pulley and clamp assemblies (Figure

6(i)) provide termination points for the knee’s outer

Bowden cables and redirect the inner Bowden cables over

nylon pulleys with ball bearings to reduce friction. The

clamp assemblies (Figure 6(h), (i), and (j)) all clamp onto

the thigh crossbars (Figure 6(k)). The clamps and crossbars

have thin walls (1.6 and 2.1 mm, respectively) for mass

efficiency and effective clamping.

2.1.3. Shank segment. The knee flexion load cell assembly

(Figure 7(a)) can rotate on radial bushings on an axle

mounted in the fork of the calf cuff (Figure 7(c)). The knee

flexion load cell assembly is kept from rotating excessively

by an SLS nylon stopper. The ankle outer Bowden cable

attachment (Figure 7(b)) is composed of an SLS nylon

component bolted onto the calf cuff and an elastomer

(TPU) component that holds the outer Bowden cable in

place. The calf cuff is bolted to the lower struts (Figure

7(k)) with custom threaded steel inserts (Figure 7(j)). The

knee extension load cell assembly (Figure 7(f)) can rotate

on radial bushings on the knee extension crossbar (Figure

7(d)) and is held in place laterally by SLS nylon shaft col-

lars. The knee extension crossbar is attached to the upper

shank struts (Figure 7(h)) through the knee extension

clamps (Figure 7(g)). An SLS nylon hard stop (Figure 7(e))

bolts in place near the joint to prevent hyperextension and

to act as strain relief for sensor cables. The knee joint

assemblies (Figure 7(i)) use two ball bearings to support

the knee axle. An absolute magnetic encoder is fixed to the

outer surface of the lateral joint assembly by an SLS nylon

mount. The encoder magnet is glued into a pocket in the

axle. The upper and lower shank struts are bolted together

with threaded steel inserts to provide length adjustability,

similar to the thigh segment (Figure 6).

2.1.4. Foot segment. A titanium heel spur (Figure 8(a)) is

rigidly attached to the ankle joint axle. The heel spurs were

made of Ti 6Al-4V ELI titanium through a direct metal

laser sintering (DMLS) process, giving it a high specific

strength and allowing for a hollow cross-section that is

mass efficient in bending and torsion. The fatigue life of

DMLS titanium is fairly low, so this part may need to be

replaced more frequently than others. Each joint assembly

(Figure 8(b)) contains two ball bearings that support the

joint axle. Each joint assembly is attached to the lower strut

of the shank assembly (Figure 7). An SLS nylon component

(Figure 8(c)) covers the medial joint assembly to ensure any

contact between the user’s legs is glancing. An absolute

magnetic encoder is housed in an SLS nylon casing (Figure

8(g)) that is attached to the joint assembly. The magnet for

the encoder is glued into a pocket in the axle and rotates

with it. The toe strut assembly (Figure 8(d)) is attached to

the heel spur on each side by three bolts and a threaded

steel insert. The heel strut assembly (Figure 8(e)) attaches

to the heel strut bearing mounts (Figure 8(f)) that rotate on

the joint axles. Each heel strut is attached to the heel strut

bearing mount by two bolts and a threaded steel insert. The

heel and toe rods run through the boots and are connected

Fig. 5. Torso segment of the exoskeleton. Assembled (left) and exploded (right) views of the torso segment of the exoskeleton.

(a) Shoulder strut. (b) Back strut. (c) Lateral back crossbar clamp. (e) Medial back crossbar clamp. (e) Back crossbar. (f) Waist strut.

(g) Hip joint assembly. (h) Pulley assembly.

Chiang et al. 5

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