让下肢外骨骼既隐形又助走，实现自然与辅助的融合。
An approach for combining transparency and motion assistance of a lower body exoskeleton
- 利用驱动单元齿轮间隙实现运动透明性
- 自适应振荡器学习步态周期信号并叠加助力扭矩
- 适合需要自然步态与稳定辅助的康复应用
本文提出一种下肢外骨骼步态辅助方法，融合运动透明性与助力功能。透明模式通过利用驱动单元的齿轮间隙，使系统在用户自由运动时感知到的交互力最小。行走过程中，叠加式助力模式会施加额外扭矩，引导腿部向预估的未来位置运动。该方法采用自适应振荡器学习步态特有的准周期信号。初步实验显示结果令人鼓舞。
原文摘要 · Abstract (English)
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a minimum of perceived interaction forces, is realized by exploiting the gear backlash of the actuation units. During walking a superimposed assistance mode applies an additional torque guiding the legs to their estimated future position. The concept of adaptive oscillators is utilized to learn the quasi-periodic signals typical for locomotion. First experiments showed promising results.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。