用柔性气动装置助力膝关节伸展，帮助行动障碍者完成起身动作。
A Soft Robotic Exosuit For Knee Extension Using Hyper-Bending Actuators
- 采用织物基气动软致动器，实现超弯折运动。
- 可产生足够力矩辅助坐立转换，提升行动能力。
- 适合康复训练与日常移动辅助，尤其适用于老年人或患者。
运动障碍会影响肌肉力量和行动能力，尽管已有治疗手段，但许多患者仍难以独立生活。柔性可穿戴机器人（即外骨骼服）为日常持续支持提供了有前景的解决方案，但市面上实用产品仍有限。本文提出一种基于柔性气动织物致动器的下肢外骨骼设计框架。该设计采用新型多材料纺织套管，结合编织网与针织弹性材料，实现超弯折致动。致动器配备3D打印自密封端帽，连接半刚性人机接口以稳固贴合人体。实验验证了该外骨骼在坐起-站立转换过程中提供足够能量输出，具备实际应用潜力。
原文摘要 · Abstract (English)
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for continuous daily support, however, commercially viable devices are not widely available. Here, we introduce a design framework for lower limb exosuits centered on a soft pneumatically driven fabric-based actuator. Our design consists of a novel multi-material textile sleeve that incorporates braided mesh and knit-elastic materials to realize hyper-bending actuators. The actuators incorporate 3D-printed self-sealing end caps that are attached to a semi-rigid human-robot interface to secure them to the body. We will demonstrate the effectiveness of our exosuit in generating enough force to assist during sit-to-stand transitions.
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