Development of Wearable Power Assist Robot for Low Back Support Using Soft Pneumatic Actuators
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摘要: 针对老龄化社会对于康复和看护助力搬运的需要，提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计，可以给护理人员在提升重物和静态保持作业时输出腰部所需助力，降低下腰痛（Low back pain，LBP）致病风险.通过对重物搬运作业中穿戴者竖脊肌表面肌电信号（Surface electromyography，sEMG）评估、基于测力平台最大搬举重量测试、静态弯腰负重作业下人体重心（Center of gravity，COG）移动轨迹等相关实验，验证了助力有效性.Abstract: With the rapid arrival of aging society, in order to meet the requirements on rehabilitation and transfer assist, we proposed a wearable power assist robot for low back support using soft pneumatic actuators which are lightweight, robust and powerful and especially safe for the interaction between man and machine. This non-exoskeleton type robot can provide low back with proper assist force during lifting or static holding tasks, and prevent the caregiver from suffering low back pain (LBP). The assistance effectiveness of the proposed device has been proven through related experiments, including assessing the electromyography (EMG) signal of the erector spinae muscles, measuring the maximum lift weight, and the track data of center of gravity (COG).
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Key words:
- Wearable /
- power assist robot /
- soft pneumatic actuator /
- exoskeleton
1) 本文责任编委 赵新刚 -
图 2 脊柱悬臂梁模型和助力机器人机理
Fig. 2 Cantilever model of spine and mechanism of power assist robot for low back support
图 7 背部竖脊肌表面肌电信号评估(负载: 12.6 kg)
Fig. 7 Evaluation by measuring sEMG signal of erector spinae muscles (loads: 12.6 kg)
图 10 脊柱稳定性需要主动肌-拮抗肌协同作用[34]
Fig. 10 Spine stability requires agonist-antagonist co-activation
表 1 人体重心移动位移(m)
Table 1 The moving length of the COG (m)
Unit With assist Without assist LNGX 0.1919 0.2628 LNGY 0.332 0.4398 LNG 0.4186 0.5613 
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