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Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton
The Bowden cable is a significant force transmission equipment for a flexible exoskeleton. However, the previous researches of Bowden cable had emphasized on the data from experimenting test board, instead of on human body, which produced the inaccurate assisting analysis of the flexible exoskeleton...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Hindawi
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9352506/ https://www.ncbi.nlm.nih.gov/pubmed/35937097 http://dx.doi.org/10.1155/2022/5552166 |
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author | Li, Xin Liu, Jinkang Li, Weihao Huang, Yijing Zhan, Gan |
author_facet | Li, Xin Liu, Jinkang Li, Weihao Huang, Yijing Zhan, Gan |
author_sort | Li, Xin |
collection | PubMed |
description | The Bowden cable is a significant force transmission equipment for a flexible exoskeleton. However, the previous researches of Bowden cable had emphasized on the data from experimenting test board, instead of on human body, which produced the inaccurate assisting analysis of the flexible exoskeleton. In this paper, a flexible exoskeleton for assisting knee extension was proposed, which provided an on-body condition. Then, the friction force and its influencing factors between the wire rope and sheath of the Bowden cable from the motor to the anchor of knee have been analyzed. The segment models of force transmission with the concern of three kinds of friction modes were established, and the relationship between various lengths and bending angles of Bowden cable was fitted to the equations of curve. Furthermore, the association rule between the force transmission and the lengths of Bowden cable was obtained, based on which, the optimal force transmission efficiency was 78.68% when the length value of the Bowden cable was 475 mm. A flexible exoskeleton prototype was assembled; then, the experiments with force transmission and metabolic cost have been developed. The results showed that the force transmission efficiency had strong association with the lengths of Bowden cable, instead of the transmission velocities. Furthermore, this knee assistance exoskeleton reduced the net metabolic cost of the testees during walking. These experiments results corroborated the force transmission modeling and simulation of the Bowden cable on body we proposed in this paper. |
format | Online Article Text |
id | pubmed-9352506 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Hindawi |
record_format | MEDLINE/PubMed |
spelling | pubmed-93525062022-08-05 Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton Li, Xin Liu, Jinkang Li, Weihao Huang, Yijing Zhan, Gan Appl Bionics Biomech Research Article The Bowden cable is a significant force transmission equipment for a flexible exoskeleton. However, the previous researches of Bowden cable had emphasized on the data from experimenting test board, instead of on human body, which produced the inaccurate assisting analysis of the flexible exoskeleton. In this paper, a flexible exoskeleton for assisting knee extension was proposed, which provided an on-body condition. Then, the friction force and its influencing factors between the wire rope and sheath of the Bowden cable from the motor to the anchor of knee have been analyzed. The segment models of force transmission with the concern of three kinds of friction modes were established, and the relationship between various lengths and bending angles of Bowden cable was fitted to the equations of curve. Furthermore, the association rule between the force transmission and the lengths of Bowden cable was obtained, based on which, the optimal force transmission efficiency was 78.68% when the length value of the Bowden cable was 475 mm. A flexible exoskeleton prototype was assembled; then, the experiments with force transmission and metabolic cost have been developed. The results showed that the force transmission efficiency had strong association with the lengths of Bowden cable, instead of the transmission velocities. Furthermore, this knee assistance exoskeleton reduced the net metabolic cost of the testees during walking. These experiments results corroborated the force transmission modeling and simulation of the Bowden cable on body we proposed in this paper. Hindawi 2022-07-28 /pmc/articles/PMC9352506/ /pubmed/35937097 http://dx.doi.org/10.1155/2022/5552166 Text en Copyright © 2022 Xin Li et al. https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Research Article Li, Xin Liu, Jinkang Li, Weihao Huang, Yijing Zhan, Gan Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton |
title | Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton |
title_full | Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton |
title_fullStr | Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton |
title_full_unstemmed | Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton |
title_short | Force Transmission Analysis and Optimization of Bowden Cable on Body in a Flexible Exoskeleton |
title_sort | force transmission analysis and optimization of bowden cable on body in a flexible exoskeleton |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9352506/ https://www.ncbi.nlm.nih.gov/pubmed/35937097 http://dx.doi.org/10.1155/2022/5552166 |
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