外骨格で前進：チームIHMCの2016年サイバスロンへの設計と挑戦
Stepping Forward with Exoskeletons: Team IHMC's Design and Approach in the 2016 Cybathlon
足首の駆動を備えた新型外骨格Mina v2を開発し、2016年サイバスロンで準優勝した。足首の底屈駆動が対麻痺者の歩行速度と課題遂行に有効であることを示した。
著者: Robert Griffin, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines, Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, Peter Neuhaus
分類: cs.RO
原文アブストラクト
Exoskeletons are a promising technology that enables individuals with mobility limitations to walk again. As the 2016 Cybathlon illustrated, however, the community has a considerable way to go before exoskeletons have the necessary capabilities to be incorporated into daily life. While most exoskeletons power only hip and knee flexion, Team Institute for Human and Machine Cognition (IHMC) presents a new exoskeleton, Mina v2, which includes a powered ankle dorsi/plantar flexion. As our entry to the 2016 Cybathlon Powered Exoskeleton Competition, Mina v2's performance allowed us to explore the effectiveness of its powered ankle compared to other powered exoskeletons for pilots with paraplegia. We designed our gaits to incorporate powered ankle plantar flexion to help improve mobility, which allowed our pilot to navigate the given Cybathlon tasks quickly, including those that required ascending movements, and reliably achieve average, conservative walking speeds of 1.04 km/h (0.29 m/s). This enabled our team to place second overall in the Powered Exoskeleton Competition in the 2016 Cybathlon.
