发表机构
University of Michigan（密歇根大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究重新思考致动几何结构使外骨骼更贴合身体的方法，开发肢体环绕式致动器（LEA）并表征其特性，其虽有高扭矩密度和创新布局，但贴近身体仍有困难，为外骨骼设计提供见解。
AI 中文摘要
下肢动力外骨骼在移动性和功能方面有显著改善，但多数设计将致动部件置于腿部外侧或腰部、背部等远处。这些配置常超出身体自然范围，使设备在日常使用中具有侵入性，可能限制社会接受度。我们认为重新思考致动几何结构可使外骨骼更贴合身体。在此，我们探索了一种致动布局，致动器在与肢体轴正交的平面内环绕肢体，可能减少其在身体周围的空间占用。我们开发了肢体环绕式致动器（LEA），并使用定制测试平台对其机电特性进行了表征。LEA还具有一种新型径向轴承布局，有可能作为传统大直径轴承的轻量或低成本替代品。该致动器质量为894克，连续扭矩密度达到7.5 Nm/kg。尽管扭矩密度高且布局创新，但该系统仍难以贴近身体。这些结果突出了肢体环绕式致动的机遇与挑战，并为扭矩密集型外骨骼设计提供了见解，如果能克服致动器尺寸和几何结构方面的挑战，此类设计可更轻松地融入日常服装。
英文摘要
Lower-limb powered exoskeletons have demonstrated substantial improvements in mobility and function, but most designs place actuation components lateral to the legs or remotely at the waist or back. These configurations often extend beyond the body's natural envelope, making devices intrusive in everyday use and potentially limiting societal adoption. We posit that rethinking actuation geometry could enable exoskeletons that conform more closely to the body. Here, we explored an actuation layout in which the actuator encircles the limb in a plane orthogonal to the limb axis, potentially reducing its spatial footprint around the body. We developed the Limb-Encircling Actuator (LEA) and characterized its electromechanical properties using a custom-built testbed. The LEA also features a novel radial bearing layout with potential as a lightweight or lower-cost alternative to traditional large-diameter bearings. The actuator achieved a continuous torque density of 7.5 Nm/kg with a mass of 894 g. Despite this high torque density and innovative layout, the system remained difficult to contain close to the body. These results highlight opportunities and challenges in limb-encircling actuation and provide insights into torque-dense exoskeleton designs that could integrate more readily into everyday apparel if challenges in actuator sizing and geometry are overcome.
Comments10 pages, 6 figures
