轻量化软式踝关节外骨骼，穿脱无负担，助走更省力。
Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton
- 鞋面贴合设计，可适配任意鞋款，穿戴无负担。
- 零扭矩模式下步态参数无显著差异，不干扰正常行走。
- 结构简单舒适，适合日常辅助或康复使用。
许多人在行走时可能受益于外骨骼辅助，无论出于医疗还是非医疗目的。然而，传统外骨骼会增加额外质量与结构，反而需要补偿。本文提出一种轻量化、低复杂度的软式双侧踝关节外骨骼，用于跖屈助力，采用鞋面安装设计，可直接置于任意鞋履之上。实验表明，在零扭矩模式下穿戴该装置时，下肢运动学与动力学参数与未穿戴状态无显著差异，证明其不会阻碍健康步态，具备良好顺应性与舒适性，有望提供有效助力。目前正开发控制算法，相关测试仍在进行中。
原文摘要 · Abstract (English)
Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight, low-complexity, soft bilateral ankle exoskeleton for plantarflexion assistance, with a shoe attachment design that can be mounted on top of any pair of shoes. Experimental tests show no significant difference in lower limb kinematics and kinetics when wearing the exoskeleton in zero-torque mode relative to not wearing an exoskeleton, showing that our device does not obstruct healthy gait, and proving it as a compliant and comfortable device, promising to provide effective assistance. Hence, a control system was developed, and additional tests are underway.
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