In this research, we proposed a lower-limb soft exoskeleton for providing assistive forces to patients with muscle weakness during the preswing phase of a gait cycle. Whereas conventional soft exoskeletons employ two motors to assist each leg individually, we designed a single motor for actuation. Our design assists hip flexion for light weights and prevents some slip problems that can arise from rotary motors. The actuation mechanism was based on a pulley system that converted the power supplied by the single motor into linear reciprocating motions of a slider. When the single motor rotated, the slider moved linearly, first in one direction and then in the opposite direction. The slider pulled knee braces through cables with an assistive force of 100 N. The actuation was triggered when the system detected that the backward swing of the wearer’s thigh had ended. A prototype was designed, fabricated, and examined with 7 subjects (average age, 24). Subjects were measured while they wore our exoskeleton in power-off and power-on modes. Comparisons proved that wearing the exoskeleton caused a negligible deviation of gait, and that the soft exoskeleton could reduce metabolic cost during walking. The research results are expected to be beneficial for lightweight soft exoskeletons and integration with exosuits that provide assistive forces through the wearer’s entire gait.

中文翻译：

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基于单执行器的下肢软性外骨骼，可用于预摆步态辅助。

在这项研究中，我们提出了下肢软外骨骼，用于在步态周期的前期阶段为肌肉无力的患者提供辅助力量。常规的软外骨骼使用两个马达来分别辅助每条腿，但我们设计了一个用于致动的马达。我们的设计有助于减轻臀部屈曲的重量，并防止旋转电机引起的一些打滑问题。该致动机构基于皮带轮系统，该皮带轮系统将单个电动机提供的动力转换为滑块的线性往复运动。当单个电动机旋转时，滑块会线性移动，首先在一个方向上，然后在相反的方向上移动。滑块以100 N的辅助力通过电缆拉动膝盖支撑。当系统检测到穿着者大腿的向后摆动已经结束时，触发动作。设计，制造并测试了7名受试者（平均年龄24岁）的原型。在关机和开机模式下，当他们穿着我们的外骨骼时对受试者进行测量。比较证明，穿戴外骨骼可以忽略不计的步态偏差，而柔软的外骨骼可以减少步行过程中的代谢成本。预期该研究结果将有益于轻便的软外骨骼，并与可在穿着者整个步态中提供辅助力的外衣结合在一起。比较证明，穿戴外骨骼可以忽略不计的步态偏差，而柔软的外骨骼可以减少步行过程中的代谢成本。预期该研究结果将有益于轻便的软外骨骼，并与可在穿用者整个步态中提供辅助力的外穿服结合在一起。比较证明，穿戴外骨骼可以忽略不计的步态偏差，而柔软的外骨骼可以降低步行过程中的代谢成本。预期该研究结果将有益于轻便的软外骨骼，并与可在穿着者整个步态中提供辅助力的外衣结合在一起。