Integrated Hydraulic-Driven Wearable Robot for Knee Assistance 用于膝关节辅助的集成式液压驱动可穿戴机器人

Zhao，Yafei1; Huang，Chaoyi2; Zou，Yuying2; Zou，Kehan1; Zou，Xiaoyang4; Xue，Jiaqi4; Li，Xiaoting4; Koh，Keng Huat4; Wang，Xiaojun3; Lai，Wai Chiu King4; Hu，Yong3; Xi，Ning1; Wang，Zheng5

2023-06-01

10.1007/s12204-023-2602-2

Journal of Shanghai Jiaotong University (Science)   影响因子和分区

1007-1172

1995-8188

Age-related diseases can lead to knee joint misfunction, making knee assistance necessary through the use of robotic wearable braces. However, existing wearable robots face challenges in force transmission and human motion adaptation, particularly among the elderly. Although soft actuators have been used in wearable robots, achieving rapid response and motion control while maintaining portability remains challenging. To address these issues, we propose a soft-robotic knee brace system integrated with multiple sensors and a direct-drive hydraulic actuation system. This approach allows for controlled and rapid force output on the portable hydraulic system. The multi-sensor feedback structure enables the robotic system to collaborate with the human body through human physiological signal and body motion information. The human user tests demonstrate that the knee robot provides assistive torques to the knee joint by being triggered by the electromyography signal and under human motion control.

A assistance device soft robot TP 242.6 wearable robot

EI

中文

通讯

20231814029141

Hydraulic equipment ; Joints (anatomy) ; Robots ; Wearable sensors

Biomechanics, Bionics and Biomimetics:461.3 ; Hydraulic Equipment and Machinery:632.2 ; Specific Variables Control:731.3 ; Robotics:731.5

2-s2.0-85153760839

Scopus

1.Department of Industrial and Manufacturing Systems Engineering,The University of Hong Kong,Hong Kong
2.Department of Mechanical Engineering,The University of Hong Kong,Hong Kong
3.Department of Orthopaedics and Traumatology,The University of Hong Kong,Hong Kong
4.Department of Biomedical Engineering,City University of Hong Kong,Hong Kong
5.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,Guangdong,518055,China

Zhao，Yafei,Huang，Chaoyi,Zou，Yuying,等. Integrated Hydraulic-Driven Wearable Robot for Knee Assistance 用于膝关节辅助的集成式液压驱动可穿戴机器人[J]. Journal of Shanghai Jiaotong University (Science),2023,28(3):289-295.

Zhao，Yafei.,Huang，Chaoyi.,Zou，Yuying.,Zou，Kehan.,Zou，Xiaoyang.,...&Wang，Zheng.(2023).Integrated Hydraulic-Driven Wearable Robot for Knee Assistance 用于膝关节辅助的集成式液压驱动可穿戴机器人.Journal of Shanghai Jiaotong University (Science),28(3),289-295.

Zhao，Yafei,et al."Integrated Hydraulic-Driven Wearable Robot for Knee Assistance 用于膝关节辅助的集成式液压驱动可穿戴机器人".Journal of Shanghai Jiaotong University (Science) 28.3(2023):289-295.