一种可重构双向绳驱动髋部外骨骼，具有可互换的台式/背包式双构型驱动
A Reconfigurable Bidirectional Cable-Driven Hip Exoskeleton with Swappable Bench/Backpack Dual-configuration Actuation
- Beihang University（北京航空航天大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种可重构双向绳驱动髋部外骨骼平台，可在台式与背包式驱动间快速切换，统一穿戴结构、驱动接口和传感路径，实验验证了两种构型的运动跟踪能力并形成步态数据集。
AI中文摘要：
髋部外骨骼为下肢康复和运动辅助提供了重要的硬件基础。实验室康复评估和系统开发需要大量的驱动和计算资源，而移动辅助则需要无绳便携性。将这两种能力集成在一个可重复使用的平台内仍然是一个核心设计挑战。本文提出了一种可重构的双向绳驱动髋部外骨骼平台，可在台式安装和背包式安装的驱动之间快速切换，同时共享一个无绳可穿戴髋部接口。该平台模块化地调整驱动构型、末端执行器传感路径和低级控制接口。每个绳驱动末端执行器重0.405千克（不包括绳和驱动单元），并集成了编码器和扭矩传感器；实验验证了台式安装的基于导纳的运动跟踪能力和背包式安装的开环扭矩跟踪能力。与三名健康参与者进行的人体穿戴实验使用myoMOTION评估了平台穿戴侧的髋部运动传感能力，验证了在30次试验中台式到背包和背包到台式的运动就绪切换，平均时间为$30.1\pm16.3$秒，并形成了一个小规模的多模态可穿戴外骨骼步态数据集，用于传感验证和数据驱动算法开发，包括8分钟的台式跑步机记录和11分钟的背包式户外步行记录。这些结果表明，通过统一可穿戴结构、驱动接口和传感路径，所提出的平台能够在台式安装和背包式安装构型中验证同一髋部外骨骼，为跨场景的迭代开发和应用提供了可重复使用的硬件。
英文摘要：
Hip exoskeletons provide an important hardware basis for lower-limb rehabilitation and locomotor assistance. Laboratory rehabilitation assessment and system development require substantial actuation and computing resources, whereas mobile assistance requires untethered portability. Integrating both capabilities within one reusable platform remains a central design challenge. This paper presents a reconfigurable bidirectional cable-driven hip exoskeleton platform that rapidly switches between bench-mounted and backpack-mounted actuation while sharing one cable-free wearable hip interface. The platform modularly adapts the actuation configuration, end-effector sensing path, and low-level control interface. Each cable-driven end-effector weighs 0.405 kg, excluding the cable and actuation unit, and integrates an encoder and a torque sensor; experiments validated bench-mounted admittance-based motion tracking capability and backpack-mounted open-loop torque tracking. Human-worn experiments with three healthy participants used myoMOTION to evaluate the platform's wearable-side hip-motion sensing capability, verified bench-to-backpack and backpack-to-bench motion-ready switching across 30 trials in $30.1\pm16.3$ s, and formed a small-scale multimodal wearable-exoskeleton gait dataset for sensing validation and data-driven algorithm development, comprising 8 min bench-mounted treadmill records and 11 min backpack-mounted outdoor walking records. These results show that, by unifying the wearable structure, actuation interface, and sensing path, the proposed platform enables validation of the same hip exoskeleton in both bench-mounted and backpack-mounted configurations, providing reusable hardware for iterative development and applications across scenarios.
