| 题名 | A Biologically-inspired Soft Exosuit for Knee Extension Assistance during Stair Ascent |
| 作者 | |
| DOI | |
| 发表日期 | 2020-12-01
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| 会议名称 | 5th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)
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| ISBN | 978-1-7281-6480-9
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| 会议录名称 | |
| 页码 | 570-575
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| 会议日期 | DEC 18-21, 2020
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| 会议地点 | null,Shenzhen,PEOPLES R CHINA
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| 出版地 | 345 E 47TH ST, NEW YORK, NY 10017 USA
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| 出版者 | |
| 摘要 | Stair ascending is laborious, which imposes very high load on human knee, leading to high risks of knee injuries. Therefore, in this paper, a biologically-inspired soft exosuit for knee extension assistance during stair ascent was designed and the assistant effect of proposed exosuit was evaluated. We placed Bowden cables in front of thigh and shank to mimic quadriceps muscle, generating knee extension moments by length contraction. A force-based position control was implemented to deliver a knee assistant moment profile, which was based on biological knee moment during normal stair ascent. Biomechanical parameters of three experimental conditions (without exosuit, with unpowered exosuit, with powered exosuit) were compared. Experimental results showed that with powered exosuit lower-limb joint kinematics exhibited minimal changes, while net (muscles plus cables) knee moment decreased by 10.92% and net knee power decreased by 30.1% as compared to without exosuit condition. |
| 关键词 | |
| 学校署名 | 第一
|
| 语种 | 英语
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| 相关链接 | [Scopus记录] |
| 收录类别 | |
| 资助项目 | National Key Research and Development Program of China[2018YFB1305400]
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| WOS研究方向 | Automation & Control Systems
; Engineering
; Robotics
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| WOS类目 | Automation & Control Systems
; Engineering, Electrical & Electronic
; Robotics
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| WOS记录号 | WOS:000728183800101
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| EI入藏号 | 20204209366970
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| EI主题词 | Position control
; Biomimetics
; Cables
; Muscle
; Physiological models
; Robotics
; Joints (anatomy)
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| EI分类号 | Buildings and Towers:402
; Biological Materials and Tissue Engineering:461.2
; Biomechanics, Bionics and Biomimetics:461.3
; Biotechnology:461.8
; Biology:461.9
; Specific Variables Control:731.3
; Robotics:731.5
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| Scopus记录号 | 2-s2.0-85092646564
|
| 来源库 | Scopus
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| 全文链接 | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9195271 |
| 引用统计 |
被引频次[WOS]：10
|
| 成果类型 | 会议论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/203728 |
| 专题 | 工学院_机械与能源工程系 |
| 作者单位 | 1.Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,518055,China 2.School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,430074,China |
| 第一作者单位 | 机械与能源工程系 |
| 第一作者的第一单位 | 机械与能源工程系 |
| 推荐引用方式 GB/T 7714 |
Huang，Guan,Ma，Liang,Zhu，Hantao,et al. A Biologically-inspired Soft Exosuit for Knee Extension Assistance during Stair Ascent[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2020:570-575.
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| 条目包含的文件 | 条目无相关文件。 | |||||
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