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Intelligent System and Control of Wearable Exoskeleton for Motion Assistance

项目来源

香港研究资助局基金(RGC)

项目主持人

Prof Liao, Wei-Hsin

项目受资助机构

The Chinese University of Hong Kong

立项年度

2019

立项时间

未公开

项目编号

14210019

项目级别

省级

研究期限

未知 / 未知

受资助金额

695919.00港币

学科

Mechanical,Production&Industrial Engineering

学科代码

未公开

基金类别

General Research Fund

关键词

未公开

参与者

Prof Law,Sheung Wai

参与机构

未公开

项目标书摘要：外骨骼机械人是一种可穿戴仿生设备，它在人体关节处安装了驱动器并且结合了机械人的动力和人类的智能。本项目的目标是为行动不便的老人研制外骨骼机械人。通过外骨骼机械人提供的辅助，这些行动不便的老人的身心健康将会得到改善，从而提高他们的生活品质。通过优化结构设计和使用3D列印部件，我们将研制轻重量，便携且穿着舒适的外骨骼机械人。柔顺驱动器将被研制来降低机械阻抗，过滤来自地面的碰撞，并且提高能量使用效率。基於新颖的步态建模和分析方法，我们将进行人体步态分析来即时评估使用者的运动表现。智能控制将用来为穿戴者提供用户启动的，有效，安全并且舒适的运动辅助。我们将制造出外骨骼机械人样机并在临床试验中评估其有效性。有了这些创新的外骨骼机械人，老年人的身心健康将显着受益，并且开发的技术将有益於香港的医疗保健。

Application Abstract: Robotic exoskeletons are wearable bionic devices that are equipped with actuators at human joints,by integrating both robot power and human intelligence.The objective of this project is to develop robotic exoskeletons for elderly people with impaired mobility.With the motion assistance provided by robotic exoskeletons,the physical and mental health of these elderly people are expected to be improved,so as to improve their quality of life.Robotic exoskeletons will be developed to be light-weight,portable,and comfortable to wear through optimal structure design and use of 3D printing parts.Compliant actuators will be developed to lower down the mechanical impedance of robotic exoskeletons,filter unwanted collisions from the ground,and improve the system energy efficiency.Human gait analysis will be performed to evaluate the user’s motion performance in real-time based on the innovative gait modeling and analysis methods.Intelligent control will be developed to provide user-initiated,effective,safe and comfortable motion assistance.Prototypes of robotic exoskeletons will be fabricated and used in clinical trials for effectiveness evaluation.With these innovative robotic exoskeletons,elderly people can obtain significant benefits in both physiological and psychological aspects,and the developed technologies will greatly benefit the healthcare in Hong Kong.

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  • 1.Medical applications of magnetorheological fluid: a systematic review

    • 关键词：
    • magnetorheological fluid; lower limb prosthesis; exoskeleton; orthosis;rehabilitation device; haptic master; tactile display;MAGNETO-RHEOLOGICAL CLUTCHES; ANKLE-FOOT ORTHOSES; HAPTIC INTERFACE;REHABILITATION DEVICE; VARIABLE RESISTANCE; MR-BRAKE; DESIGN;EXOSKELETON; LEG; OPTIMIZATION

    Magnetorheological (MR) fluid, whose rheological properties can be changed reversibly by applied magnetic field, offers superior capabilities and opportunities since its invention. The most crucial feature of MR fluid is its controllable and continuous yield stress. Taking this advantage, MR fluid is gaining popularity in various medical applications to meet their force/torque requirements. In this review article, progress of medical applications of MR fluid in the last two decades are systematically reviewed, mainly focused on six categories: lower limb prosthesis, exoskeleton, orthosis, rehabilitation device, haptic master, and tactile display. With MR fluid, natural and stable limb motions in lower limb prostheses, exoskeletons, and orthoses, flexible muscle trainings in rehabilitation devices, and high transparency and resolution haptic feedback can be realized. Relevant discussions and future perspectives are also provided.

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