超弹性肌腱样鲍登电缆：先进的辅助外骨骼

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-02 DOI:10.1109/LRA.2025.3605094

Gregorio Pisaneschi;José M. Catalán;Andrea Blanco;Nicola Sancisi;Nicolas García;Andrea Zucchelli

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引用次数: 0

摘要

本研究介绍了一种用于手辅助外骨骼的新型鲍登电缆（BC）系统，该系统采用超弹性（SE）形状记忆合金线，以解决诸如效率和安全限制等关键限制。SE电线的独特特性使其能够单线传输，提供增强的性能，以及固有的自传感和自限制能力，提供类似肌腱的过载保护。在模拟使用条件的装置上进行的实验结果表明，SE钢丝的摩擦系数仅为传统钢丝的1/4，效率更高。此外，经过验证的力传感能力，通过监测电阻，证明可以在1%的力误差内准确检测过载。这一点，以及在模拟碰撞过程中固有的被动力自我限制行为，证明了SE BC能够有效地模拟生物肌腱的保护功能。因此，这种软机器人传动的仿生创新显著提高了安全性和效率，为辅助和康复机器人的人机交互提供了一个有希望的进展。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Superelastic Tendon-Like Bowden Cables: Advancing Assistive Exoskeletons

This study introduces a novel Bowden cable (BC) system for hand-assistive exoskeletons employing superelastic (SE) shape memory alloy wires to address key limitations such as efficiency and safety limitations. The unique properties of SE wires enable a single-wire transmission, offering enhanced performance, plus inherent self-sensing and self-limiting capabilities that provide tendon-like overload protection. Experimental results obtained with a setup simulating use conditions demonstrate the superior efficiency of SE wires, with 1/4 the friction of conventional steel cables. In addition, a validated force-sensing capability, achieved by monitoring electrical resistance, proves to accurately detect overloads within 1% force error. This, along with the inherent passive force self-limiting behaviour during simulated collisions, demonstrates the ability of the SE BC to effectively mimic the protective function of biological tendons. Therefore, this biomimetic innovation in soft robotic transmission significantly improves safety and efficiency, presenting a promising advancement for human-robot interaction in assistive and rehabilitative robotics.

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.