提出环绕肢体的新型驱动器，提升外骨骼贴合度。
Design and Characterization of a Limb Encircling Actuator
- 驱动器环抱肢体轴线，缩小空间占用。
- 实现7.5 Nm/kg连续扭矩密度，重894克。
- 适合追求轻量化与贴身穿戴的外骨骼设计。
下肢助力外骨骼已显著提升行动能力，但多数设计将驱动部件置于腿部外侧或腰部背部，常超出身体自然轮廓，使用时显得突兀，可能限制社会接受度。我们提出重新思考驱动布局，使外骨骼更贴近身体。本文探索一种驱动器在垂直于肢体轴线的平面内环绕肢体的设计，有望减小体表占用空间。我们开发了环肢驱动器（Limb-Encircling Actuator, LEA），并利用自建测试平台表征其机电特性。该驱动器采用新型径向轴承布局，或可作为传统大直径轴承的轻量化或低成本替代方案。实验表明，LEA实现7.5 Nm/kg的连续扭矩密度，质量为894克。尽管具备高扭矩密度和创新结构，系统仍难以紧密贴合身体。这些结果揭示了环肢驱动的机遇与挑战，为未来能融入日常服饰的高密度扭矩外骨骼设计提供了重要参考。
原文摘要 · Abstract (English)
Lower-limb powered exoskeletons have demonstrated substantial improvements in mobility and function, but most designs place actuation components lateral to the legs or remotely at the waist or back. These configurations often extend beyond the body's natural envelope, making devices intrusive in everyday use and potentially limiting societal adoption. We posit that rethinking actuation geometry could enable exoskeletons that conform more closely to the body. Here, we explored an actuation layout in which the actuator encircles the limb in a plane orthogonal to the limb axis, potentially reducing its spatial footprint around the body. We developed the Limb-Encircling Actuator (LEA) and characterized its electromechanical properties using a custom-built testbed. The LEA also features a novel radial bearing layout with potential as a lightweight or lower-cost alternative to traditional large-diameter bearings. The actuator achieved a continuous torque density of 7.5 Nm/kg with a mass of 894 g. Despite this high torque density and innovative layout, the system remained difficult to contain close to the body. These results highlight opportunities and challenges in limb-encircling actuation and provide insights into torque-dense exoskeleton designs that could integrate more readily into everyday apparel if challenges in actuator sizing and geometry are overcome.
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