可变刚度跑步机2:开发和验证一种独特的工具来研究柔顺地形上的运动。

IF 2.2 4区 计算机科学 Q2 ENGINEERING, MECHANICAL
Vaughn Chambers, Bradley Hobbs, William Gaither, Zachary Thé, Anthony Zhou, Chrysostomos Karakasis, Panagiotis Artemiadis
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引用次数: 0

摘要

了解各种环境下的腿部运动对许多领域都很有价值,包括机器人、生物力学、康复和运动控制。具体来说,研究柔顺地形中的腿运动最近对腿机器人在自然环境中的鲁棒控制越来越感兴趣。与此同时,地面依从性在卒中后步态康复中的重要性也得到了强调。目前,研究变刚度行走曲面的方法并不多。本文介绍了可变刚度跑步机(VST) 2,这是VST第一版的改进,这是第一个能够改变皮带刚度的跑步机。与VST 1相比,本文提出的装置(VST 2)可以通过产生垂直挠度而不是角度挠度来独立降低两条皮带的刚度,同时将行走表面积从0.20 m2增加到0.74 m2。此外,两条跑步机皮带现在都是独立驱动的,而每条皮带下的高空间分辨率力传感器可以测量地面反作用力和压力中心。通过验证实验,VST 2显示出较高的准确度和精密度。VST 2的刚度范围为13 kN/m至1.5MN/m,误差小于1%,标准偏差小于2.2 kN/m,证明了其可靠模拟低刚度环境的能力。VST 2构成了VST平台的巨大改进,这是一种独一无二的系统,可以提高我们对人类和机器人步态的理解,同时为两足运动、运动训练和受伤或疾病后步态康复的研究创造了新的途径。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains.

Understanding legged locomotion in various environments is valuable for many fields, including robotics, biomechanics, rehabilitation, and motor control. Specifically, investigating legged locomotion in compliant terrains has recently been gaining interest for the robust control of legged robots over natural environments. At the same time, the importance of ground compliance has also been highlighted in poststroke gait rehabilitation. Currently, there are not many ways to investigate walking surfaces of varying stiffness. This article introduces the variable stiffness treadmill (VST) 2, an improvement of the first version of the VST, which was the first treadmill able to vary belt stiffness. In contrast to the VST 1, the device presented in this paper (VST 2) can reduce the stiffness of both belts independently, by generating vertical deflection instead of angular, while increasing the walking surface area from 0.20 m2 to 0.74 m2. In addition, both treadmill belts are now driven independently, while high-spatial-resolution force sensors under each belt allow for measurement of ground reaction forces and center of pressure. Through validation experiments, the VST 2 displays high accuracy and precision. The VST 2 has a stiffness range of 13 kN/m to 1.5MN/m, error of less than 1%, and standard deviations of less than 2.2 kN/m, demonstrating its ability to simulate low-stiffness environments reliably. The VST 2 constitutes a drastic improvement of the VST platform, a one-of-its-kind system that can improve our understanding of human and robotic gait while creating new avenues of research on biped locomotion, athletic training, and rehabilitation of gait after injury or disease.

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来源期刊
CiteScore
5.60
自引率
15.40%
发文量
131
审稿时长
4.5 months
期刊介绍: Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.
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