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Lightweight, variable-stiffness lower limb assistive exoskeleton system
A lightweight variable-stiffness lower limb assistive exoskeleton system reduces the mass and size of the variable-stiffness drive unit. A variable-stiffness actuator based on shape memory alloy (SMA) is proposed, with a single variable-stiffness actuator weighing approximately 68.5g. Precise control of exoskeleton stiffness is achieved through dynamic modeling of the SMA, combining constitutive models, phase transformation dynamics models, heat balance equations, and output equations. To maximize the fulfillment of human movement needs, a prototype of a lightweight variable-stiffness exoskeleton is constructed by parallelly arranging variable-stiffness actuators and incorporating a guide mechanism. Product test results show that the exoskeleton's variable stiffness range is 7～20 N/mm, verifying the effectiveness of the exoskeleton's function.
Keywords:
Category:
Medical rehabilitation robot
Hotline:
Lightweight, variable-stiffness lower limb assistive exoskeleton system
Picture and text details
A lightweight variable-stiffness lower limb assistive exoskeleton system reduces the mass and size of the variable-stiffness drive unit. A variable-stiffness actuator based on shape memory alloy (SMA) is proposed, with a single variable-stiffness actuator weighing approximately 68.5g. Precise control of exoskeleton stiffness is achieved through dynamic modeling of the SMA, combining constitutive models, phase transformation dynamics models, heat balance equations, and output equations. To maximize the fulfillment of human movement needs, a prototype of a lightweight variable-stiffness exoskeleton is constructed by parallelly arranging variable-stiffness actuators and incorporating a guide rail mechanism. Product test results show that the exoskeleton's variable stiffness range is 7～20 N/mm, verifying the effectiveness of the exoskeleton's function.
Product Features:
- Reasonable arrangement of smart materials to meet the stiffness change needs of the human lower limbs;
- Combining smart materials to construct a position tracking control system targeting contact force.
- Based on the Brinson constitutive model, a dynamic model of smart materials is constructed.
- A smart material control method based on inversion control is proposed.
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