Origami-Inspired Wearable Robot for Trunk Support

作     者：Li, Dongting Yumbla, Emiliano Quinones Olivas, Alyssa Sugar, Thomas Amor, Heni Ben Lee, Hyunglae Zhang, Wenlong Aukes, Daniel M. 

作者机构：Arizona State Univ Sch Mfg Syst & Networks Ira A Fulton Sch Engn Mesa AZ 85212 USA Arizona State Univ Sch Engn Matter Transport & Energy Ira A Fulton Sch Engn Tempe AZ 85212 USA Arizona State Univ Sch Comp & Augmented Intelligence Ira A Fulton Sch Engn Tempe AZ 85212 USA 

出 版 物：《IEEE-ASME TRANSACTIONS ON MECHATRONICS》 (IEEE ASME Trans Mechatron)

年 卷 期：2023年第28卷第3期

页      面：1466-1476页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金："The Global KAITEKI Center" (TGKC) of the Global Futures Laboratory at Arizona State University 

主　　题：Parallel robots robotics and automation robot kinematics wearable robots 

摘      要：We present a wearable exo-shell device inspired by the human spine for improving the gait of elderly people during obstacle avoidance tasks. This device-designed and fabricated with origami-inspired techniques-features a serial chain of lockable joints that can be stiffened using a braking system inspired by laminar jamming concepts. Current related work has identified that the trunk plays a crucial role in obstacle avoidance tasks. In this article, we thus propose an affordable wearable system that can be quickly fabricated and whose design can be adjusted to fit the individual wearer. The design leverages switchable, passive systems, in combination with lightweight materials that remain as transparent to the user as possible when inactive. This article focuses on translating human requirements into a tangible design that addresses the current state of our biomechanics knowledge. We describe the kinematics and forces of our proposed device, describe the performance of our system in a locked and unlocked state, discuss the integration of various sensors into our device, and characterize the performance of the device when locked and unlocked.