TY - JOUR A2 - 郑佰AU - 谢铭华盟 - 黄，尹轩AU - 超，张嘉伦AU - 刘，建豪AU - 许炜李盟 - 施，温针PY- 2020 DA - 2020年7月13日TI - 单 - 执行器为基础的下肢外骨骼软为预摆动步态援助SP - 5927657 VL - 2020 AB - 在这项研究中，我们提出了下肢外骨骼软为提供辅助力患者在步态周期的预摆动阶段肌肉无力。而传统的软外骨骼采用双电机单独协助每条腿，我们专门为驱动单个电机。我们的设计助攻轻的重量和防止从旋转电机出现了一些问题，滑髋关节屈曲。该致动机构是基于滑轮系统，其转换由单个马达供应到滑块的线性往复运动的电源。当单个马达旋转时，滑动器直线移动，首先在一个方向上，然后在相反的方向。The slider pulled knee braces through cables with an assistive force of 100 N. The actuation was triggered when the system detected that the backward swing of the wearer’s thigh had ended. A prototype was designed, fabricated, and examined with 7 subjects (average age, 24). Subjects were measured while they wore our exoskeleton in power-off and power-on modes. Comparisons proved that wearing the exoskeleton caused a negligible deviation of gait, and that the soft exoskeleton could reduce metabolic cost during walking. The research results are expected to be beneficial for lightweight soft exoskeletons and integration with exosuits that provide assistive forces through the wearer’s entire gait. SN - 1176-2322 UR - https://doi.org/10.1155/2020/5927657 DO - 10.1155/2020/5927657 JF - Applied Bionics and Biomechanics PB - Hindawi KW - ER -