Lower-Limb Robotic Exoskeleton with Energy Storage and Reversible Mechanisms Using Brain Signal Activation

In the current study, a lower limb exoskeleton is developed to assist or rehabilitate the physically challenged person who has lost their mobility due to SCI. In order to overcome energy-storing issues related to existing designs, the device uses a spring and camshaft system which is integrated with the robot structure to reduce the required energy by absorbing the bodyweight into spring potential energy and released by the cam design. Hence the motor load is reduced comparatively and also the torque compensation was improved. The control of the exoskeleton is carried out by analyzing brain signals (EEG) and eye movement signals (EOG), which are combined with the control system to perform daily activities such as walking, turning, and sit-stand.

在本项研究中，一种旨在辅助或康复因脊髓损伤（SCI）而丧失行动能力的肢体外骨骼得以开发。为克服现有设计中与能量储存相关的问题，该设备采用了一种弹簧与凸轮轴系统，该系统与机器人结构集成，通过将体重转化为弹簧势能并利用凸轮设计释放能量，从而降低所需的能量消耗。因此，相较于以往，降低了电机负载并提升了扭矩补偿效果。外骨骼的控制通过分析脑电波（EEG）和眼电波（EOG）信号实现，这些信号与控制系统相结合，以执行日常活动，如行走、转向和坐立。