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Self-Aligning Mechanism Improves Comfort and Performance With a Powered Knee Exoskeleton
IEEE Transactions on Neural Systems and Rehabilitation Engineering ( IF 4.9 ) Pub Date : 2021-03-08 , DOI: 10.1109/tnsre.2021.3064463
Sergei V. Sarkisian , Marshall K. Ishmael , Tommaso Lenzi

Misalignments between powered exoskeleton joints and the user’s anatomical joints are inevitable due to difficulty locating the anatomical joint axis, non-constant location of the anatomical joint axis, and soft-tissue deformations. Self-aligning mechanisms have been proposed to prevent spurious forces and torques on the user’s limb due to misalignments. Several exoskeletons have been developed with self-aligning mechanisms based on theoretical models. However, there is no experimental evidence demonstrating the efficacy of self-aligning mechanisms in lower-limb exoskeletons. Here we show that a lightweight and compact self-aligning mechanism improves the user’s comfort and performance while using a powered knee exoskeleton. Experiments were conducted with 14 able-bodied subjects with the self-aligning mechanism locked and unlocked. Our results demonstrate up to 15.3% increased comfort and 38% improved performance when the self-aligning mechanism was unlocked. Not surprisingly, the spurious forces and torques were reduced by up to 97% when the self-aligning mechanism was unlocked. This study demonstrates the efficacy of self-aligning mechanisms in improving comfort and performance for sit-to-stand and position tracking tasks with a powered knee exoskeleton.

中文翻译:

自对准机制通过动力膝关节外骨骼改善了舒适度和性能

由于难以定位解剖关节轴,解剖关节轴的位置不固定以及软组织变形,因此动力外骨骼关节与使用者的解剖关节之间的错位是不可避免的。已经提出了自对准机构,以防止由于未对准而在使用者的肢体上产生虚假的力和扭矩。基于理论模型,已经开发出几种具有自对准机制的外骨骼。但是,没有实验证据证明自对准机制在下肢外骨骼中的功效。在这里,我们展示了一种轻巧紧凑的自对准机制,可在使用动力膝关节外骨骼的同时提高用户的舒适度和性能。实验是对14名身体健康的受试者进行的,他们将自对准机制锁定和解锁。我们的结果表明,当自动对准机构解锁时,舒适度提高了15.3%,性能提高了38%。毫不奇怪,当自动对准机构解锁时,杂散力和转矩减少了多达97%。这项研究证明了自对准机制在改善动力性膝外骨骼的坐姿和位置跟踪任务的舒适度和性能方面的功效。
更新日期:2021-03-16
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