外骨骼的进一步发展：IHMC团队在2016年Cybathlon中的设计和方法
Stepping Forward with Exoskeletons: Team IHMC's Design and Approach in the 2016 Cybathlon
摘要：
外骨骼是一种很有前途的技术，可以使行动不便的人再次行走。然而，正如2016年Cybathlon所示，在外骨骼具备必要的能力以融入日常生活之前，社区还有相当长的路要走。虽然大多数外骨骼仅为髋关节和膝关节屈曲提供动力，但人类与机器认知研究所（IHMC）提出了一种新的外骨骼Mina v2，其中包括动力踝关节背侧/跖屈。作为2016年Cybathlon动力外骨骼竞赛的参赛作品，Mina v2的表现让我们得以探索其动力踝关节与其他动力外骨骼相比对截瘫飞行员的有效性。我们设计的步态结合了动力踝跖屈，以帮助提高机动性，这使我们的飞行员能够快速导航给定的Cybathlon任务，包括那些需要上升运动的任务，并可靠地实现平均，保守的步行速度1.04公里/小时（0.29米/秒）。这使我们的团队在2016年Cybathlon的动力外骨骼比赛中获得第二名。
英文摘要：
Exoskeletons are a promising technology that enables individuals with mobility limitations to walk again. As the 2016 Cybathlon illustrated, however, the community has a considerable way to go before exoskeletons have the necessary capabilities to be incorporated into daily life. While most exoskeletons power only hip and knee flexion, Team Institute for Human and Machine Cognition (IHMC) presents a new exoskeleton, Mina v2, which includes a powered ankle dorsi/plantar flexion. As our entry to the 2016 Cybathlon Powered Exoskeleton Competition, Mina v2's performance allowed us to explore the effectiveness of its powered ankle compared to other powered exoskeletons for pilots with paraplegia. We designed our gaits to incorporate powered ankle plantar flexion to help improve mobility, which allowed our pilot to navigate the given Cybathlon tasks quickly, including those that required ascending movements, and reliably achieve average, conservative walking speeds of 1.04 km/h (0.29 m/s). This enabled our team to place second overall in the Powered Exoskeleton Competition in the 2016 Cybathlon.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
