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46Возможности и ограничения использования экзоскелетов
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Малюга Олег Владимирович
генеральный директор компании МЕХООМ, oleg@onyxrobot.com
В последнее время предложено значительное количество технических систем, применяемых для реабилитации людей с ограниченными возможностями и упрощения их повседневной жизни, улучшения возможностей, снижения трав-матичности. В этой области наиболее значимым прорывов стало появление экзоскелетов, которые стали использовать не только в реабилитационной медицине, но и рабочем процессе в различных отраслях промышленности. В современных условиях показано, что экзоскелеты могут быть использоваться для того, чтобы инвалиды-колясочники приобрели возможность передвижения посредством экзоскелета. Данные приспособления могут быть использованы для пациентов, перенесших инсульт. Особенностью данных систем является возможность внесения изменений в алгоритм посредством инструментов искусственного интеллекта. Однако в настоящее время необходимо осуществлять изучение концептуальных возможностей и ограничения применения с целью поиска границ применения данной технологии и одновременно использования в максимально широком качестве. Ключевые слова: экзоскелет, реабилитация, импульсы, оборудование, мобильность.
People have always dreamed of becoming stronger than they really are. And some of them tried to realize their dreams the first such invention was a lever, then a block and a rope for lifting loads. With these simple devices, a person can lift a load much heavier than his body. But you want more. Want without blocks and ropes, without arms, with his own hands. No. their hands, of course, will not work. But anyone can do it with an exoskeleton. The exoskeleton is an amplifier of human muscles [Aoustin, 2018, 72], it is such a thing that makes a person much stronger - such machines are very necessary in the army. One soldier in such an exoskeleton can easily replace three or four. In addition, one blow of his iron fist will be able to crush, probably, and brickwork. Simpler designs can be used in everyday life for lifting weights, as well as they can help the disabled and the elderly who have problems with the musculoskeletal system. If ever there will be on sale available simplified exoskeletons, then surely they will be a success with tourists who love many kilometers of Hiking on rough terrain. The first ecostream was the usual crutches, but it wasn't enough. They wanted to create a symbiosis of man and machine. The dream of becoming stronger than we are, transformed into an ecoscape [Galle, 2017].
At first, exoskeletons appeared in science fiction novels. So, Ivan Efremov in the novel «Andromeda Nebula «(1957) introduced a special «jumping skeletons». Here's how they describe the writer: «lock the cabin was previously prepared biological spacesuits and «jumping skeletons» - steel, leather frames with motor, springs and dampers for individual movement with an increased force of gravity, which was worn over the spacesuits». But he describes the day on this planet with high gravity: «Without considerable practice, it was very hard to coordinate his own body with the movement of the arms, a steel «skeleton». From this walking was accompanied by tremors and violent shaking. Even from a short hike people and Robert Heinlein uses an exoskeleton already for military purposes in 1959, he wrote the novel «Starship troopers, which shows an armored suit, dressed in which a person can run, jump, fly with built-in rocket dvigatepey and many more useful and not very useful things [Huang, 2016, 35]. In 1987, Stanislav LEM created his last novel, after which he stopped writing fiction and devoted the remaining nineteen years of his life to philosophy and literary criticism. The novel is called «Fiasco», now it does not matter what the story was about, our main theme is exoskeletons. Here's what LEM writes about it: «the big Rovers became the embodiment of the concept of the exoskeleton. which as an external amplifier of human Tepa was known from many prototypes of the twentieth century. The invention remained at the development stage, since there was no application for it on Earth [Lee, 2015, 200]. This idea was revived during the development of the Solar system. Cars, adapted to the planet on which they had to work to local objectives and conditions.... It is impossible to make sudden movements-as it is impossible to stop instantly in the sea the cruiser or to rotate an arrow of the crane as a propeller...» Of course, the writer was a little mistaken - most likely, exoskeletons will find application on the Earth and sometime will be available as now mobile phones, Materials and methods are available. The theme of exoskeletons also flashes in science fiction films [Mooney, 2016]. I hope everyone remembers the Alien where the brave Ripley fights the monster while standing inside the forklift. And if you take the film «Iron man» (2008), it is entirely devoted to the theme of the exoskeleton. It would be possible to give other examples, but for now we will limit ourselves to the above.
The operator settled, answered the orders reluctantly, and he with great difficulty managed to keep them under control Hydraulic claws meant pumps that move hydraulics - and without that massive Hardiman, as this monster was called, depended on the even larger size of the periphery - generators and auxiliary equipment, which was equipped with a fairly large-seam room. The design of the exoskeleton Hardiman was to increase the strength of the operator by thirty times, that is, one person could replace the whole Toppa movers. At least one operator inside Hardiman theoretically should have been able to lift a 1,500 - pound load on this development had high hopes for the military-Hardiman would have been very useful on aircraft carriers when loading bombs and missiles. But dreams don't always become reality - beyond prototypes did not get. There were several significant flaws in the design of the exoskeleton [Savin, 2017, 500].
First, he could not adequately move even on a flat surface - with each step, the operator risked falling and dying under the weight of this machine. To walk humanly Hardiman flatly refused, and few normal people would agree to manage such a capricious iron man. The second flaw-of the planned 700 pounds Hardiman was able to squeeze only 300, and when you consider that the design weighed twice as much, it is a record can not be called. By
1970, it was possible to make only one claw work, which was also not considered a very good result [Wu, 2012, 188]. And when you consider the car and small truck peripheral equipment, the project and all seemed unpromising. Even now, there is no alternative to a portable power source for such giants.
A few years dreamed-and enough in
1971, the Hardiman project was frozen for lack of visible development prospects. Then, in the movie» Alien», there was a walking loader Caterpillar R-5000, which deftly managed Lieutenant Ripley. The basis of this non-existent in reality, the loader BYP put it Hardiman. That's just in the film, the electric cables were left behind the scenes, and the machine is shown as a fully Autonomous loader. This is exactly what the craftsmen from General Electric wanted to do. But we couldn't. People in the future did not stop trying to make themselves cyborgs, they really wanted to learn how to play with iron muscles, to feel the power of their iron body. There are two main dreams - to learn to fly and become strong as an elephant. If people have learned to fly with the help of parachutes and paragliders, that is, bypassing the minimum, it is not possible to become strong yet [Zhang, 2009, 73]. After several attempts to create an effective exoskeleton, there was a long lull. Only occasionally slipped projects that did not go beyond the drawing Board, and only recently began to appear working models. If ssociety for ordinary people with disabilities is almost ready for publication, with the military developments until full stop. Modern ROBO-SUITS XOS for several years, since 2000, the company Sacros has worked in the field of microelectromechanical systems, developing robotics. 12 Nov 2007 it was bought by the American company Raytheon, a major supplier of the U.S. military. taking control of the development. In addition to exoskeletons, Sacros developed robotic mannequins, and she created dinosaurs for the film «Jurassic Park» [Folgheraiter, 2012, 300].
The SHOW of the XOs exoskeleton was apparently timed to coincide with the release of the film» Iron man», and even commercials
from Raytheon contained footage from the film. One ambiguity with the name - this exoskeleton called XOS - everywhere, in addition to Raytheon. Apparently, it's just a shortened name in English - Exosceleton. This robot acts in much the same way as all the others of this type. It has sensors that detect muscle contractions and transmit signals to motors. And the motors react quickly, but the man squeezed into the XOS. still feels a slight delay in movement. And -most importantly - the exoskeleton increases the strength of a man twenty times. that is, a person can effortlessly lift a load weighing 200 kg. However, to carry such loads on his back, he is unlikely to be able, but to tear this weight off the ground under the force [Grimaldi, 2013]. Results and discussions. No details of the developers did not report, apparently afraid of competitors. Yes, and the exoskeleton is not quite finalized to the end, so it's too early to put points over I. at the show of the exoskeleton, the operator who put on this suit - or. rather be said, got in - did! He did push-UPS with load on the back, weighing ninety pounds, and they carry different weight and went downhill, and fast and precise movements beat on the punching bag. And all this he did with such ease, as if taking a morning walk. Initially, XOS is designed for the military, that is, for loading ammunition, as well as for participation in hostilities. However, Steven Jacobsen, Director of Sarcos and project Manager, hopes that the invention will find its place not only for unloading, but also to help people with disabilities. One big problem with this exoskeleton, and many others, is the lack of a portable power source [Lee, 2012, 1491]. At this stage, XOS can only be used in places where IT has to be connected with a thick electrical cable. Perhaps, until this will be only military depots ammunition. In the future if the issues are resolved, these suits can be worn in the armor and get a real «Iron man». However, war is not the best way to use new technologies. Let us hope that these costumes will be used primarily for peaceful purposes.
In early 2009, the army Winter Symposium was held in Florida. It shows the company Lockheed Martin prepared for mass production power exoskeleton HULC [Li, 2014, 437]. Well, like Americans cheap panache-that they can not take away. If the demonstration of the XOs exoskeleton of Raytheon and Sacros was timed to coincide with the screening of the film «Iron man, the HULC should be associated with the green man from the bpokbaster «Incredible Hulk». Most of all, I am surprised that such PR is not some glamorous projects, but serious
military-industrial companies [Nikitin, 2016, 916].
After been tested the HULC and XOS exoskeleton. the American military thought about the same Robo-suit, but only for divers. After all, often the soldiers of the security services have to land in the most unexpected places. And sometimes it is most convenient to do it on the seashore-quietly-peacefully get out, hide the scuba and-attack! But if a person swam under water for more than one kilometer, then what kind of attack, he was tired, he has no strength - no physical training will not help [Tran, 2014]. Here the military and ordered scientists to develop an exoskeleton for divers.
What only in legends and fairy tales you will not hear. And flying carpets, wings of Icarus. And the American company Atair Aerospace took and made a backpack-plane. Actually, this company is engaged in the development and creation of equipment for the delivery of goods by air. Paragliders, parachutes - this is one side of the work of Atair Aerospace. Cars that are delivered to the place by paragliders-this is another round of development So, in 2005, the company showed a flying car «Chimera», which after planning is able to take off independently, using a paraglider [Yang, 2016, 802]. This car is essentially an ordinary buggy with a rear-mounted screw in the ring fairing. And in the air it speeds up to 65 km / h.
Analyzing domestic and foreign literature revealed that the priority areas of application of exoskeletons are the military industry and rehabilitation medicine. Most of the created exoskeletons can not find mass application for the rehabilitation of patients with limited functions of the upper and lower limbs due to the large mass of the structure, depending on external power sources, their significant cost. It was found that the most acceptable for rehabilitation is the design of a passive exoskeleton, the main groups in need of exoskeletons are patients suffering from paresis of the upper and lower extremities.
Limits and possibilities of exoskeletons usage
Malyuga O.V.
LLC OnyxCom
In recent years, there have been many gadgets and devices used to rehabilitate people with disabilities and facilitate their lives, increase mobility, improve physical parameters, reduced or lost due to various diseases and injuries. But perhaps the most notable event was the appearance of exoskeletons, which are used not only as rehabilitation equipment, but also in everyday life. Exoskeletons have made a real revolution in rehabilitation, allowing you to do what a few decades ago seemed like a fantasy - to get a paralyzed person out of a wheelchair and return him to the ability to walk.
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Exoatlet can be used both for rehabilitation and in everyday life, as well as for the recovery of patients who have had a stroke. Its feature is the ability to make changes to the algorithm as the user uses and acquires certain skills. Actually can be customized for each user and his personal preferences in the operation of the exoskeleton. However, at present it is necessary to carry out a study of conceptual possibilities and limitations of application in order to search for the limits of application of this technology and at the same time use it in the widest possible quality. Keywords: exoskeleton, rehabilitation, impulses,
equipment, mobility. References
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of Biped with Passive Exoskeleton: Evaluation of Energy Consumption." Multibody System Dynamics 43(1): 71-96. https://doi.org/ 10.1007/s11044-017-9602-7.
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the Improvement of the Interaction Comfort of a Wearable Exoskeleton." International Journal of Social Robotics 4(3): 285-302. https://doi.org/10.1007/s12369-012-0147-x.
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Collins, and Dirk De Clercq. 2017. "Reducing the Metabolic Cost of Walking with an Ankle Exoskeleton: Interaction between Actuation Timing and Power." Journal of NeuroEngineering and Rehabilitation 14(1): 35. https://doi.org/10.1186/s12984-017-0235-0.
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"Functional Impacts of Exoskeleton-Based
Rehabilitation in Chronic Stroke: Multi-Joint versus Single-Joint Robotic Training." Journal of NeuroEngineering and Rehabilitation 10(1): 113. https://doi.org/10.1186/1743-0003-10-113.
5. Huang, Rui et al. 2016. "Optimisation of
Reference Gait Trajectory of a Lower Limb Exoskeleton." International Journal of Social Robotics 8(2): 223-35. https://doi.org/ 10.1007/s12369-015-0334-7.
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Changsoo Han. 2012. "The Technical Trend of the Exoskeleton Robot System for Human Power Assistance." International Journal of Precision Engineering and Manufacturing 13(8): 1491-97. https://doi.org/10.1007/ s12541-012-0197-x.
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Sangdeok Park. 2015. "Virtual Model Control of Lower Extremity Exoskeleton for Load Carriage Inspired by Human Behavior." Autonomous Robots 38(2): 211-23. https:// doi.org/10.1007/s10514-014-9404-1.
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Yao. 2014. "Proceeding of Human Exoskeleton Technology and Discussions on Future Research." Chinese Journal of Mechanical Engineering 27(3): 437-47. https://doi.org/ 10.3901/CJME.2014.03.437.
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"Biomechanical Walking Mechanisms Underlying the Metabolic Reduction Caused by an Autonomous Exoskeleton." Journal of NeuroEngineering and Rehabilitation 13(1): 4. https://doi.org/10.1186/s12984-016-0111-3.
10. Nikitin, A Ya., and I M Morozov. 2016. "Exoskeleton Anomalies in Taiga Tick Females from Populations of the Asian Part of Russia." Entomological Review 96(7): 916-21. https:/ /doi.org/10.1134/S0013873816070149.
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