Wearable exoskeleton is a wearable device to enhance human ability,however,it is too heavy because of some constraints,such as material,structure and energy storage battery. Thus it brings fatigue to people after a lo...Wearable exoskeleton is a wearable device to enhance human ability,however,it is too heavy because of some constraints,such as material,structure and energy storage battery. Thus it brings fatigue to people after a long period of wearing. The research aims at optimizing shoulder fatigue and improving wearing comfort by means of changing the device-body contact material. After analyzing the current wearable exoskeletons ' weight, a standard load was set and a wearable exoskeleton was designed that could switch the weight. The experiment chose movement stability and change of cumulative pressure upon shoulder as the indexes of fatigue. The indexes were measured and analyzed before and after changing the contact material to memory foam with the standard load. The results showed promotion in action stability and obvious decrease in cumulative pressure upon shoulder.The experiment proves that the using of memory foam in wearable exoskeleton has evident effects on optimizing shoulder fatigue with load,promoting movement stability and wearing comfort.展开更多
Underwater robot technology has shown impressive results in applications such as underwater resource detection.For underwater applications that require extremely high flexibility,robots cannot replace skills that requ...Underwater robot technology has shown impressive results in applications such as underwater resource detection.For underwater applications that require extremely high flexibility,robots cannot replace skills that require human dexterity yet,and thus humans are often required to directly perform most underwater operations.Wearable robots(exoskeletons)have shown outstanding results in enhancing human movement on land.They are expected to have great potential to enhance human underwater movement.The purpose of this survey is to analyze the state-of-the-art of underwater exoskeletons for human enhancement,and the applications focused on movement assistance while excluding underwater robotic devices that help to keep the temperature and pressure in the range that people can withstand.This work discusses the challenges of existing exoskeletons for human underwater movement assistance,which mainly includes human underwater motion intention perception,underwater exoskeleton modeling and human-cooperative control.Future research should focus on developing novel wearable robotic structures for underwater motion assistance,exploiting advanced sensors and fusion algorithms for human underwater motion intention perception,building up a dynamic model of underwater exoskeletons and exploring human-in-theloop control for them.展开更多
Recently, the need for exoskeleton robots has been increased due to the advancement of robotic technologies and changes in the concept of how the robots can be utilized in direct contact with human bodies. The robots,...Recently, the need for exoskeleton robots has been increased due to the advancement of robotic technologies and changes in the concept of how the robots can be utilized in direct contact with human bodies. The robots, once only used on the factory floor, are now becoming a part of human bodies, which provides the unprecedented level of muscle power boost and the increase of running speed. If used very carefully, the exoskeleton robots can be also used for patients’ rehabilitation. The exoskeleton robots have many potential application areas;?hence most advanced countries are currently developing various types of exoskeleton robots. Those robots can be classified into two major categories, namely the rigid type and the soft type. Each type has own advantages and disadvantages, while the carrying load capacity and the actuation speed can be quite different. There are also many technical difficulties in order to use the exoskeleton robots in the field. The aim of this study is, therefore, to introduce the trends of exoskeleton robot development in advanced countries, while providing the analysis on the technical merits and downside of robot types. The comparison chart also indicates the major technical directions, in which the future technology will be headed for, such as the improved robot response characteristics by employing advanced sensors and artificial intelligence. The robots are becoming smarter, lighter, and more powerful. It is foreseeable that the wearable robots can be a part of human life in the very near future.展开更多
In this paper, the finger muscular forces were estimated and analyzed through the application of inverse dynamics-based static optimization, and a hand exoskeleton system was designed to pull the fingers and measure t...In this paper, the finger muscular forces were estimated and analyzed through the application of inverse dynamics-based static optimization, and a hand exoskeleton system was designed to pull the fingers and measure the dynamics of the hand. To solve the static optimization, a muscular model of the hand flexors was derived. The experimental protocol was devised to analyze finger flexors in order to evaluate spasticity of the clenched fingers; muscular forces were estimated while the flexed fingers were extended by the exoskeleton with external loads applied. To measure the finger joint angles, the hand exoskeleton system was designed using four-bar linkage structure and potentiometers. In addition, the external loads to the fingertips were generated by cable driven actuators and simultaneously measured by loadcells which were located at each phalanx. The ex- periments were performed with a normal person and the muscular forces estimation results were discussed with reference to the physical phenomena.展开更多
针对老龄化社会对于康复和看护助力搬运的需要,提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计,可以给护理人员在提升重物和静态保持作业时输出腰部所需助力,降低下腰痛(Low ba...针对老龄化社会对于康复和看护助力搬运的需要,提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计,可以给护理人员在提升重物和静态保持作业时输出腰部所需助力,降低下腰痛(Low back pain,LBP)致病风险.通过对重物搬运作业中穿戴者竖脊肌表面肌电信号(Surface electromyography,s EMG)评估、基于测力平台最大搬举重量测试、静态弯腰负重作业下人体重心(Center of gravity,COG)移动轨迹等相关实验,验证了助力有效性.展开更多
基金the Fundamental Research Funds for the Central Universities,China(No.16D110301)Research Innovation Project of Shanghai Municipal Education Commission,China(No.201506000008)Science and Technology Guidance Project of Chinese Textile Industry Association(No.2015109)
文摘Wearable exoskeleton is a wearable device to enhance human ability,however,it is too heavy because of some constraints,such as material,structure and energy storage battery. Thus it brings fatigue to people after a long period of wearing. The research aims at optimizing shoulder fatigue and improving wearing comfort by means of changing the device-body contact material. After analyzing the current wearable exoskeletons ' weight, a standard load was set and a wearable exoskeleton was designed that could switch the weight. The experiment chose movement stability and change of cumulative pressure upon shoulder as the indexes of fatigue. The indexes were measured and analyzed before and after changing the contact material to memory foam with the standard load. The results showed promotion in action stability and obvious decrease in cumulative pressure upon shoulder.The experiment proves that the using of memory foam in wearable exoskeleton has evident effects on optimizing shoulder fatigue with load,promoting movement stability and wearing comfort.
基金supported in part by the National Key Research and Development Program of China(2021YFF0501600)the National Natural Science Foundation of China(U1913601)+6 种基金the Major Science and Technology Projects of Anhui Province(202103a05020004)the China Postdoctoral Science Foundation(2021M693079)the Fundamental Research Funds for the Central Universities(WK2100000020)the State Key Laboratory of Mechanical System and Vibration(MSV202219)the Ministry of Science and Higher Education of the Russian Federation as Part of World-Class Research Center Program:Advanced Digital Technologies(075-15-2020-903)the Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang UniversityChina(ICT2022B42)。
文摘Underwater robot technology has shown impressive results in applications such as underwater resource detection.For underwater applications that require extremely high flexibility,robots cannot replace skills that require human dexterity yet,and thus humans are often required to directly perform most underwater operations.Wearable robots(exoskeletons)have shown outstanding results in enhancing human movement on land.They are expected to have great potential to enhance human underwater movement.The purpose of this survey is to analyze the state-of-the-art of underwater exoskeletons for human enhancement,and the applications focused on movement assistance while excluding underwater robotic devices that help to keep the temperature and pressure in the range that people can withstand.This work discusses the challenges of existing exoskeletons for human underwater movement assistance,which mainly includes human underwater motion intention perception,underwater exoskeleton modeling and human-cooperative control.Future research should focus on developing novel wearable robotic structures for underwater motion assistance,exploiting advanced sensors and fusion algorithms for human underwater motion intention perception,building up a dynamic model of underwater exoskeletons and exploring human-in-theloop control for them.
文摘Recently, the need for exoskeleton robots has been increased due to the advancement of robotic technologies and changes in the concept of how the robots can be utilized in direct contact with human bodies. The robots, once only used on the factory floor, are now becoming a part of human bodies, which provides the unprecedented level of muscle power boost and the increase of running speed. If used very carefully, the exoskeleton robots can be also used for patients’ rehabilitation. The exoskeleton robots have many potential application areas;?hence most advanced countries are currently developing various types of exoskeleton robots. Those robots can be classified into two major categories, namely the rigid type and the soft type. Each type has own advantages and disadvantages, while the carrying load capacity and the actuation speed can be quite different. There are also many technical difficulties in order to use the exoskeleton robots in the field. The aim of this study is, therefore, to introduce the trends of exoskeleton robot development in advanced countries, while providing the analysis on the technical merits and downside of robot types. The comparison chart also indicates the major technical directions, in which the future technology will be headed for, such as the improved robot response characteristics by employing advanced sensors and artificial intelligence. The robots are becoming smarter, lighter, and more powerful. It is foreseeable that the wearable robots can be a part of human life in the very near future.
文摘In this paper, the finger muscular forces were estimated and analyzed through the application of inverse dynamics-based static optimization, and a hand exoskeleton system was designed to pull the fingers and measure the dynamics of the hand. To solve the static optimization, a muscular model of the hand flexors was derived. The experimental protocol was devised to analyze finger flexors in order to evaluate spasticity of the clenched fingers; muscular forces were estimated while the flexed fingers were extended by the exoskeleton with external loads applied. To measure the finger joint angles, the hand exoskeleton system was designed using four-bar linkage structure and potentiometers. In addition, the external loads to the fingertips were generated by cable driven actuators and simultaneously measured by loadcells which were located at each phalanx. The ex- periments were performed with a normal person and the muscular forces estimation results were discussed with reference to the physical phenomena.
文摘针对老龄化社会对于康复和看护助力搬运的需要,提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计,可以给护理人员在提升重物和静态保持作业时输出腰部所需助力,降低下腰痛(Low back pain,LBP)致病风险.通过对重物搬运作业中穿戴者竖脊肌表面肌电信号(Surface electromyography,s EMG)评估、基于测力平台最大搬举重量测试、静态弯腰负重作业下人体重心(Center of gravity,COG)移动轨迹等相关实验,验证了助力有效性.
