Chinese Journal of Mechanical Engineering >

2021 , Vol. 34 >Issue 5: 100 - 100

DOI: https://doi.org/10.1186/s10033-021-00618-8

Original Article

Robotic Walker for Slope Mobility Assistance with Active-Passive Hybrid Actuator

  • Junqiang Li ,
  • Lei Zhao ,
  • Tiejun Li
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  • School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China

收稿日期: 2020-05-29

  修回日期: 2021-02-05

  网络出版日期: 2022-03-22

基金资助

Supported by National Natural Science Foundation of China (Grant No. U1813222), and Hebei Provincial Natural Science Foundation of China (Grant No. E2018202316).

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Robotic Walker for Slope Mobility Assistance with Active-Passive Hybrid Actuator

  • Junqiang Li ,
  • Lei Zhao ,
  • Tiejun Li
Expand
  • School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China

Received date: 2020-05-29

  Revised date: 2021-02-05

  Online published: 2022-03-22

Supported by

Supported by National Natural Science Foundation of China (Grant No. U1813222), and Hebei Provincial Natural Science Foundation of China (Grant No. E2018202316).

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摘要

Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads. However, fast signal processing and real-time control are necessary for active robotic walkers when the users walk on slopes, while assistive forces cannot be provided by passive robotic walkers when the users walk uphill. A robotic walker with an active-passive hybrid actuator (APHA) was developed in this study. The APHA, which consists of a rotary magnetorheological (MR) brake and a DC motor, can provide mobility assistance to users walking both uphill and downhill via the cooperative operation of the MR brake and DC motor. The rotary MR brake was designed with a T-shaped configuration, and the system was optimized to minimize the brake volume. Prototypes of the APHA and robotic walker were constructed. A control algorithm for the robotic walker was developed based on the characteristics of the APHA and the structure of the robotic walker. The mechanical properties of the APHA were characterized, and experiments were conducted to evaluate the mobility assistance supplied by the robotic walker on different roads. The results show that the APHA can meet the requirements of the robotic walker, and suitable assistive forces can be provided by the robotic walker, which has a simple mechanical structure and control method.

关键词： Robotic walker; Active-passive hybrid actuator; MR brake; Slope mobility assistance

本文引用格式

Junqiang Li , Lei Zhao , Tiejun Li . Robotic Walker for Slope Mobility Assistance with Active-Passive Hybrid Actuator[J]. Chinese Journal of Mechanical Engineering, 2021 , 34(5) : 100 -100 . DOI: 10.1186/s10033-021-00618-8

Abstract

Walking assistance can be realized by active and passive robotic walkers when their users walk on even roads. However, fast signal processing and real-time control are necessary for active robotic walkers when the users walk on slopes, while assistive forces cannot be provided by passive robotic walkers when the users walk uphill. A robotic walker with an active-passive hybrid actuator (APHA) was developed in this study. The APHA, which consists of a rotary magnetorheological (MR) brake and a DC motor, can provide mobility assistance to users walking both uphill and downhill via the cooperative operation of the MR brake and DC motor. The rotary MR brake was designed with a T-shaped configuration, and the system was optimized to minimize the brake volume. Prototypes of the APHA and robotic walker were constructed. A control algorithm for the robotic walker was developed based on the characteristics of the APHA and the structure of the robotic walker. The mechanical properties of the APHA were characterized, and experiments were conducted to evaluate the mobility assistance supplied by the robotic walker on different roads. The results show that the APHA can meet the requirements of the robotic walker, and suitable assistive forces can be provided by the robotic walker, which has a simple mechanical structure and control method.

Key words： Robotic walker; Active-passive hybrid actuator; MR brake; Slope mobility assistance

参考文献

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