优化儿童外骨骼气动肌的安装位置，提升关节活动度并减少身体受力。
Analysis of Forces Exerted by Shoulder and Elbow Fabric-based Pneumatic Actuators for Pediatric Exosuits
- 通过调整肩肘处气动肌的固定点，测试不同姿势下的受力与活动范围。
- 肩关节屈曲90°时，远离关节中心固定可实现最大活动度且降低峰值受力。
- 肘关节对称固定且肩关节在0°时性能最优，适合儿童穿戴设计。
为提升儿童上肢外骨骼设计，需评估气动执行器产生的接触力。本研究分析了软性织物基气动执行器在儿童上肢外骨骼中的作用力。考察了两种执行器：用于肩部外展/内收的单腔双向执行器，以及用于肘部伸展/屈曲的波纹管型执行器。实验通过集成于自研婴儿级双自由度装置（两个旋转关节）的负载传感器和编码器，评估了执行器锚定点位置及相邻关节角度对作用力和活动范围（ROM）的影响。结果显示，当肘关节屈曲90°时，将肩部执行器锚定在远离关节中心的位置，可在最小化体表峰值力的同时实现最大活动范围；而肘部执行器在肩关节处于0°时对称锚定可优化性能。这些发现为外骨骼功能与可穿戴性的协同优化提供了关键依据。
原文摘要 · Abstract (English)
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators in an upper extremity pediatric exosuit. Two actuators were examined: a single-cell bidirectional actuator for shoulder abduction/adduction and a bellow-type actuator for elbow extension/flexion. Experiments assessed the impact of actuator anchoring points and the adjacent joint's angle on exerted forces and actuated joint range of motion (ROM). These were measured via load cells and encoders integrated into a custom infant-scale engineered apparatus with two degrees of freedom (two revolute joints). For the shoulder actuator, results show that anchoring it further from the shoulder joint center while the elbow is flexed at $90^\circ$ yields the highest ROM while minimizing the peak force exerted on the body. For the elbow actuator, anchoring it symmetrically while the shoulder joint is at $0^\circ$ optimizes actuator performance. These findings contribute a key step toward co-optimizing the considered exosuit design for functionality and wearability.
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