新型半刚性膝关节外设，助力更精准、更强的运动辅助。
Exo-muscle: A semi-rigid assistive device for the knee
- 采用半刚性链式结构，兼顾刚性与柔性优势，避免对准偏差。
- 可提供最高38Nm的助动扭矩，实现确定性负载补偿。
- 适合康复训练与运动增强场景，尤其关注精准力矩输出。
本文介绍了Exo-Muscle这一新型膝关节辅助装置的原理、设计与机电结构。与现有基于刚性外骨骼或软腱驱动系统的装置不同，该设备采用一种全新的半刚性设计，结合刚性与柔性系统的优点。通过在膝关节周围使用新型半刚性链式机构，消除了装置与膝关节旋转中心之间的错位问题，同时为肌腱提供了明确的运行路径，从而相比全柔性系统具备更确定的负载补偿功能。该装置可为膝关节提供高达38Nm的辅助扭矩。实验部分通过一系列测试验证了其在膝关节上实现目标辅助功能的能力。
原文摘要 · Abstract (English)
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exoskeleton structures or soft-tendon driven approaches, the proposed device leverages a new semi-rigid principle that explores the benefits of both rigid and soft systems. The use of a novel semi-rigid chain mechanism around the knee joint eliminates the presence of misalignment between the device and the knee joint center of rotation, while at the same time, it forms a well-defined route for the tendon. This results in more deterministic load compensation functionality compared to the fully soft systems. The proposed device can provide up to 38Nm assistive torque to the knee joint. In the experiment section, the device was successfully validated through a series of experiments demonstrating the capacity of the device to provide the target assistive functionality in the knee joint.
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