In Robotics, What is an Exoskeleton?

Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for people as operators. This article briefly introduces the development status and trends of robotics in the exoskeleton world of the military field. Refers to a robot that is wrapped around the human body, also known as a "wearable robot."

Robot exoskeleton

The development of an exoskeleton robot is a super task. If you want to create an automatic robotic device that can help in time when it is needed and will never hinder the soldier's movement, replace his hands and feet, and bear 95% of the cargo. And fully integrated with the human body, not only to fulfill their wishes, but also to often predict the intention of the wearer, the development is not difficult. The main problem is

The challenge of developing human exoskeleton. Although the concept of exoskeleton has appeared in American science fiction movies for decades, it has never been a practical concept due to the limitations of basic technology. Energy supply is a major obstacle. The human exoskeleton's energy source must be mobile and able to provide sufficient energy for tasks assigned by the wearer. Energy sources The U.S. military's practical exoskeleton-assisted robot should also not decay during missions. Exercise is another issue. The human body can walk, run, and bend forward and backward freely. These complex movements have all proved difficult to be simulated by machinery.

Human exoskeleton tests: In 2001, the US Department of Defense's Advanced Research Projects Agency (DARPA) was determined to overcome technical problems in the development of exoskeleton. DARPA allocated $ 50 million for a five-year exoskeleton project for military use.

Exoskeleton robots in experimental state: Japanese companies have also been working hard to develop exoskeleton for commercial use, especially to help the disabled and the elderly to carry out daily life and life (walking, climbing stairs, loads, etc.).

Both sides' efforts to develop exoskeleton are considered successful. It is reported that the UC Berkeley project funded by DARPA and the sarcos research company in Salt Lake City are ready to demonstrate in this field. Japan has HAL-5 (the fifth-generation exoskeleton system, called the Hybrid Limb Assist System or HAL). The system is a full-body kit designed to assist people with muscle wasting or brain or spinal cord injury without human assistance. These developments are slowly addressing the obstacles that have kept the exoskeleton on the artboard for many years.

Sooner or later, the exoskeleton will really enter the practical field.

The human exoskeleton assisted robot originated from the idea and research and development of the Hardman assisted robot in the United States in 1966. Today, it is still in the research and development stage. The energy supply device and the control system and force transmission device that meet the requirements of agility and accuracy of human movement Both need to invest heavily in research and development and experimental attempts [1]. The following are representative research results in recent years.

1 Japanese exoskeleton robot HAL3 It was developed by the University of Tsukuba. Its function is: Power assisted machine "Robot suit" HAL (Habrid Assist Legs), which assists people in walking, standing, sitting and other lower limbs. LAN (Local Area Network) system, battery pack, motor and reducer, sensors (floor reaction force sensor, surface electromyography sensor, angle sensor), actuator, etc., total weight is about 17 kg, the equipment is heavier, and the power transmission uses a motor- Reducer-Exoskeleton mechanism approach. It can automatically adjust the boosting amount of the device according to the action intention of the human body. Market planning: It will be mainly used for dangerous operations such as elderly care, disabled assistance, firefighting and police, and the development of the sports and entertainment market will be strengthened. HAL will be designed and produced for various uses.

2 Israel: "Exoskeleton" booster device ReWalk The "ReWalk" developed by Elger Medical Technology Company uses a crutch to help maintain body balance. It consists of an electric leg stand, a body sensor and a backpack. A computer control box is included As well as rechargeable batteries. The user can use the remote control belt to select a certain setting, such as standing, sitting, walking, climbing, etc., and then lean forward to activate the body sensor to make the mechanical leg in motion. It is mainly used to help paralyzed persons to restore walking ability. The power transmission adopts the method of motor-reducer-exoskeleton mechanism. The movement mode is mainly that the device drives the human body. The power assistance of the device is set by the control system and cannot be changed at any time according to the action intention of the person. Market planning is mainly for product development for customers with paralysis of the lower limbs.

3 University of Berkeley military cooperation project-exoskeleton-assisted robot soldier suit

The device, called Berkeley Lower Extremity Exoskeleton or BLEEX, was designed by the Advanced Defense Research Engineering Agency to try to connect automatic mechanical pillars to human legs to reduce weight This allows infantry to travel longer distances under heavier loads. This set of equipment is mainly composed of fuel supply and engine system, control and detection system, hydraulic transmission system and exoskeleton mechanism. People using this device must connect their legs with the legs of mechanical exoskeleton through a transmission belt. A large backpack equipped with an engine and control system. At the same time, there is still space for carrying payload in the backpack. The power transmission process is: engine-hydraulic system-exoskeleton mechanism. This device can balance the device's own weight (50 kg), making people feel no load when wearing it, and the control system will ensure that its center of gravity is always on the user's feet. The device's backpack can also carry a weight of 32 kg. To the user, he only feels like he is carrying 2 kg. In addition to helping soldiers, this device can also help medical personnel evacuate the wounded from dangerous areas or enable firefighters to carry heavy equipment to climb more floors.

Wearable robot clothing will help troops increase combat effectiveness and endurance. The latest Raytheon Sarcos model developed by Raytheon of the United States has claw-shaped hands. When American soldiers wear this equipment, their strength and endurance will be 20 times higher than normal. For the Lockheed Martin HULC model, the wearer can easily carry 200 pounds (approximately 91 kilograms) of objects, and can complete more heavy tasks with less energy consumption. Currently, the US Army Soldier Systems Center is conducting military tests on robotic exoskeleton. ^[1]

Generally speaking, the power-assisted machine can be divided into two categories: engineering-assisted machine and biologically-assisted machine [1]. Engineering-assisted machines have been applied in automobiles (such as electric power steering systems), factories (such as forklifts, electric hoists), and various Engineering machinery (such as excavators, cranes); and bio-assisted machines are mainly exoskeleton-powered robots used by humans, which can be used in three major areas, namely military, civilian, and medical. It can be said that the essence of power-assisting machines is to amplify the power and speed of human beings several times or even thousands of times. The exoskeleton robot technology discussed in this article is a direct manifestation of this essence. Based on the current research progress and the needs of human survival, we can look forward to future technological developments to help devices like the clothes we humans wear. Its own movement constitutes an obstacle, and it can also amplify human target movements (strength and speed) to the required target values according to human brain consciousness. For example, a person cannot lift a car by himself, but wears exoskeleton clothing alone. You can lift the car smoothly, and you can also walk or run with it. In the field of future applications, it can be seen from Figure 3 that the future exoskeleton booster can be applied in many fields including military, mineral, industrial, medical, and so on. Because the future needs of the human body's functions will continue to improve, it will even far exceed its own limits Exoskeleton boosting equipment will become particularly important and eventually become an essential product.

Since 2000, the U.S. military has been engaged in the research of the "Enhanced Human Exoskeleton" (EHPA) project. It plans to develop a robot skeleton to improve human military combat capabilities. It is planned to start sample tests in 2005. After wearing an exoskeleton robot in the future, soldiers will become a super soldier with infinite strength, can carry more weapons and equipment, increase firepower, and increase protection levels. At the same time, they can overcome any obstacles and advance at high speed without fatigue. sense.