Background

In recent years, as the large own weight of active exoskeleton brings some difficulty to energy-sustainable, studies have shown that passive lower extremity exoskeletons can also reduce the energy consumption of human locomotion, but the energy saving is still relatively small compared with the total consumption.

Methods

A passive lower limb exoskeleton named Multi-Resiliency was described, and design parameters were estimated based on inverse dynamics. Furthermore, a series of experiments was designed for assessing the assisting effect of the exoskeleton in uphill walking and upstairs activities.

Results

In the inverse dynamics analysis, the spring release angle θ_max was confirmed to be 45° for increasing assist performance of the exoskeleton. In the exoskeleton wearing experiments, the energy expenditure of subjects were decreased by 14.3% in uphill walking test and 16.0% in stair climbing test respectively.

Conclusion

The results show that the design of Multi-Resiliency exoskeleton is reasonable and it may effectively improve walking efficiency during uphill walking and stair climbing activities.

中文翻译：

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一种多弹性外骨骼设计及其在上坡和爬楼梯运动中的生理成本评估

背景

近年来，由于主动式外骨骼自重较大给能源可持续带来一定难度，研究表明被动式下肢外骨骼也可以降低人体运动的能耗，但与总能耗相比，节省的能源仍然较少。消耗。

方法

描述了一种名为 Multi-Resiliency 的被动下肢外骨骼，并基于逆动力学估计了设计参数。此外，还设计了一系列实验来评估外骨骼在上坡行走和上楼活动中的辅助效果。

结果

在逆动力学分析中，弹簧释放角 θ _max被确认为 45°，以提高外骨骼的辅助性能。在外骨骼佩戴实验中，受试者在上坡步行测试和爬楼梯测试中的能量消耗分别降低了14.3%和16.0%。

结论

结果表明，Multi-Resiliency外骨骼设计合理，可有效提高上坡行走和爬楼梯活动时的行走效率。