轻量化可调力背托，能随负重自动调节支撑力。
Soft Semi-active Back Support Device with Adaptive Force Profiles using Variable-elastic Actuation and Weight Feedback
- 并联变刚度被动元件与人工肌肉，实现力值离散可调。
- 实测在对称举重任务中降低背部肌电活动21%-34%。
- 通过前臂力肌图与背部惯性数据感知负载，适合康复辅助。
便携式主动背支持装置（BSDs）虽可调助力但常笨重，而被动式装置轻便却无法自适应运动。本文提出一种软性、轻量且紧凑的背托，采用并联的变刚度被动元件与主动人工肌肉，通过离散的刚度变化和主动力水平实现助力可调。通过台架测试与穿戴表征验证了其调节能力，并利用该能力实现基于重量自适应的物体举放辅助。通过前臂力肌图与上背部惯性测量单元数据检测用户所持重量。五名受试者在对称举重与放下任务中的肌电图分析显示，背伸肌活动降低21%-34%。一名受试者的初步结果显示，在不对称举重时肌电活动也有所下降。
原文摘要 · Abstract (English)
Portable active back support devices (BSDs) offer tunable assistance but are often bulky and heavy, limiting their usability. In contrast, passive BSDs are lightweight and compact but lack the ability to adapt their assistance to different back movements. We present a soft, lightweight, and compact BSD that combines a variable-stiffness passive element and an active element (an artificial muscle) in parallel. The device provides tunable assistance through discrete changes in stiffness values and active force levels. We validate the device's tuning capabilities through bench testing and on-body characterization. Further, we use the device's tuning capabilities to provide weight-adaptive object lifting and lowering assistance. We detect the weight handled by the user based on forearm force myography and upper-back inertial measurement unit data. Furthermore, electromyography analyses in five participants performing symmetric object lifting and lowering tasks showed reductions in back extensor activity. Preliminary results in one participant also indicated reduced muscle activity during asymmetric lifting.
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