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Файл:The design of the exoskeleton. Monograph
.pdf
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Figure 1.1 – Lamb Device
In 1963 Zarudny (Zaroodny) from the ballistic laboratory of the U.S.
army published a technical report with detailed description of work. His
exoskeleton was designed to increase the load-carrying capacity of a
capable carrier, such as a soldier. In his publication, Zarudny began to solve
fundamental problems in the implementation of such a device: the
creation of a portable power supply, the physical implementation of the
interface with a person. Despite the fact that his proposal has failed to
provide financial this report is the first, which discussed the engineering
difficulties in developing exoskeletons that improves performance.
In the late 1960s, General Electric Research, in collaboration with
researchers from Cornell University and with financial support from the
Office of Naval research of the United States, built a prototype of a full-
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body exoskeleton, called-Hardiman (from "Human Augmentation
Research and Development Investigation"). This exoskeleton allowed the
average person to lift a load weighing up to 700 kg, but he weighed 750 kg.
Hardiman is shown in figure 1.2.
Figure 1.2 – General view of the Hardiman exoskeleton
The main incentive for work in the field of performance-enhancing
exoskeletons came from a program sponsored by the DARPA (Defense
Advanced Research Project Agency), called EHPA (Exoskeletons for Human
Performance Augmentation). The aim of the program is to increase the
capabilities of ground soldiers beyond what an ordinary person can.
During the duration of the EHPA program, three institutions
demonstrated working exoskeletons, as well as a number of other
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institutions have made progress in the technologies involved, such as
portable power supplies.
The most notable exoskeleton from the DARPA program was BLEEX
(Berkeley Lower Extremity Exoskeletons), which is shown in figure 1.3. One
of the distinguishing features of this project is that it is energetically
Autonomous or can carry its own power source. The developers claim that
this is the first charge-carrying and energy-Autonomous exoskeleton.
Figure 1.3 – BLEEX Exoskeleton
Bleex has three degrees of freedom in the hip, one in the knee and
three on the ankle. The exoskeleton is driven by bi-directional linear
hydraulic cylinders mounted in a triangular configuration with swivel joints,
resulting in an effective shoulder force that varies with the angle of the
joint. BLEEX consumes an average of 1143 watts of power while walking, as
well as 200 watts of electrical power for electronics and control.
The Sarcos Research Corporation, as part of the DARPA EHPA
program, worked towards an exoskeleton for the whole body. It was called
WEAR (Wearable Energetically Autonomous Robot). As the name implies,
the exoskeleton Sarcos is energetically Autonomous, it carries its own
power source. Like the Berkeley exoskeleton, Sarcos put forward the
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concept of hydraulic drive of the exoskeleton. However, instead of linear
hydraulic drives, the exoskeleton uses rotating hydraulic drives located
directly on the reinforced joints of the device.
The concept of a quasi-passive exoskeleton was put forward at the
Massachusetts Institute of technology (MIT Exoskeleton) as part of the
second phase of the DARPA EHPA program. This concept seeks to use the
passive dynamics of human walking to create lighter and more efficient
exoskeletons. The MIT exoskeleton does not use any actuators to add
power to the joints. Instead, the development is entirely based on the
controlled release of energy during negative phases of the step. Quasipassive elements of the exoskeleton were chosen based on the analysis of
the kinetics and kinematics of human gait. The exoskeleton is shown in
figure 1.4.
Figure 1.4 – mit exoskeleton during metabolic testsduring metabolic
tests
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At the University of Tsukuba (Tsukuba University) from Japan,
Professor Yoshiki Sancai (Yoshikuyi Sankai) and his team have developed
the concept of exoskeleton, designed to increase productivity by using the
device for rehabilitation purposes. It should be noted that in contrast to
the load-carrying BLEEX, Sarcos, and MIT exoskeletons, the HAL system
(Hybrid Assistive Leg) does not transfer the load to the surface of the earth,
but simply increases the torque (hip, knee, ankle). An example of an
exoskeleton is shown in the figure 1.5.
Figure 1.5 – Hal Exoskeleton
For more than a decade, researchers at the Kanagawa Institute of
technology in Japan have been developing an exoskeleton to assist nurses
during patient transfer. One interesting aspect of the mechanical design of
the exoskeleton is that there are no mechanical components on the front,
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allowing the nurse to have direct contact with the patient. This is an
important property for the comfort and safety of the patient. NurseAssisting Exoskeleton is shown in figure 1.6.
Figure 1.6 - Nurse-Assisting Exoskeleton
At Yobotics, Inc. from Cincinnati, Ohio developed a simple exoskeleton,
which is shown in figure 1.7. This exoskeleton is designed to add power to
the knee, which in turn should help in climbing. Roboknee control uses the
reaction force of the support (in the vertical direction) and moments in the
sagittal plane (forward/backward direction). This information, obtained
with the help of two load sensors, is used in the positive reverse control
circuit of the force of the torque amplification on the knee.
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Figure 1.7 – RoboKnee An Exoskeleton
Next, consider the development of active corsets (active orthoses),
which are better than traditional braces, due to the combination of adding
or dissipating power in the joints of the device and/or controlled release of
energy stored in the springs during the corresponding phases of gait.
The groundbreaking work on the exoskeletons of Miomir
Vukobratovic (Miomir Vukobratovic) and his assistants from the Mihailo
Pupin Institute in Belgrade in the late 1960s and 1970s was one of the
largest to date works in this field. The first active walking exoskeleton was
created in 1969. This exoskeleton was developed for medical purposes and
was intended for the rehabilitation of people with disorders of the
musculoskeletal system. In 1972 — 1974 the exoskeleton developed in
Belgrade was transferred to the Russian scientists from the research
Institute of Mechanics of Moscow state University for research and further
development. At the same time, his clinical trials were held at the Central
State Institute of Orthopedics and Traumatology. The exoskeleton is shown
in figure 1.8.
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Figure 1.8 – Exoskeleton designed by the Mihailo Pupin Institute
The exoskeleton, shown in figure 1.9, was developed at the University
of Wisconsin in early 1968 and was similar to the exoskeletons from the
Mihailo Pupin Institute and is designed to aid in the movement of people
with lower limb paralysis.
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Figure 1.9 – Exoskeleton developed at the University of Wisconsin
When considering active exoskeletons-corsets, it is necessary to pay
attention to single-articular exoskeletons and exoskeletons with an active
modular joint.
The first published work about modular active joints is called AMOLL
(Active Modular Orthosis for Lower Limbs) under the leadership of Pierre
Rabesona (Pierre Rabischong), in cooperation with French researchers
from Montpellier and Toulouse, the Belgrade University and Stanford
research Institute. The idea of an inflatable interface for the carrier, first
used by the French company Aerozur as "soft suits", was put forward. The
modular nature of these devices made it possible to use only those
components that were necessary for the movement of a particular patient.
Among active odnosemjannyj exoskeletons exoskeletons distinguish
between the ankle and the knee joint. The first active ankle exoskeleton
was introduced in 1981 by Jaukovic from the University of Titograd
(Podgorica) in the former Yugoslavia. The device consisted of a DC motor
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installed in the front part of the Shin of the owner that helped with flexion
and extension of the ankle joint. Note the great contribution in this area of
developers of the Massachusetts Institute of technology (MIT Ankle-Foot
Orthosis) and the University of Michigan Orthoses (University of Michigan
Orthoses), which are shown in figure 1.10.
Figure 1.10 – Massachusetts Institute of technology Ankle
exoskeleton on the left, University of Michigan ankle exoskeleton on the
center, northwestern University knee exoskeleton on the right
The Dinos Mavrodis laboratory at northwestern University has
developed an active knee exoskeleton. This device (see figure 1.10) is
designed to provide resistive torques to the user for rehabilitation
purposes.
1.2. Overview of existing structures in the world
REWALK
Exoskeleton that allows people to walk with paralysis of the lower
extremities. Like an external skeleton or bioelectronic suit, the ReWalk
device uses special sensors to detect deviations in a person's equilibrium,
and then transforms them into pulses that normalize his movement,
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