[论文解读] Soft Semi-active Back Support Device with Adaptive Force Profiles using Variable-elastic Actuation and Weight Feedback
这项研究提出了一种解耦式软背部支撑装置，采用可变刚度被动元件与并联的主动气动人工肌肉，实现随重量自适应的力曲线。通过 FMG 和 IMU 传感实现重量检测并自动调节，演示了肌肉活动的降低。
Portable active back support devices (BSDs) offer tunable assistance but are often bulky and heavy, limiting their usability. In contrast, passive BSDs are lightweight and compact but lack the ability to adapt their assistance to different back movements. We present a soft, lightweight, and compact BSD that combines a variable-stiffness passive element and an active element (an artificial muscle) in parallel. The device provides tunable assistance through discrete changes in stiffness values and active force levels. We validate the device's tuning capabilities through bench testing and on-body characterization. Further, we use the device's tuning capabilities to provide weight-adaptive object lifting and lowering assistance. We detect the weight handled by the user based on forearm force myography and upper-back inertial measurement unit data. Furthermore, electromyography analyses in five participants performing symmetric object lifting and lowering tasks showed reductions in back extensor activity. Preliminary results in one participant also indicated reduced muscle activity during asymmetric lifting.
研究动机与目标
- 降低背部损伤风险并为不同躯干力量的人群提供支撑。
- 开发轻量、紧凑的 BSD，使其实时具有可调、自适应的辅助。
- 通过机载状态与重量估计实现重量自适应的提举/放置支撑。
- 通过台架测试和体内 EMG 实验验证，显示肌肉活动减少。
提出的方法
- 提出两元件驱动范式：可变刚度的被动元件与主动气动人工肌肉并联。
- 利用静电吸附离合器实现刚度调节，改变阻尼带的有效长度。
- 将装置建模为弹簧网络以推导带材刚度，并将 IPAM 动力学与基于压力的力模型耦合。
- 通过实验拟合一个二阶多项式来表征 IPAM 的力与伸长及压力的关系。
- 集成一个松弛调节的折纸肌与静电吸附制动器以调整装置松弛。
- 使用前臂 FMG 与背部 IMU 数据对用户状态和重量进行分类，以实现自动的力曲线选择。
实验结果
研究问题
- RQ1软 BSD 是否能够在无绳轻量化形态下提供可调、适应性的力分布？
- RQ2在便携设置中如何可靠检测承载重量以驱动重量自适应辅助？
- RQ3可变弹性执行器对提举与放置过程中的背伸肌活动有何影响？
- RQ4解析模型在动态条件下预测装置力的准确度如何？
主要发现
| Device | Active or Passive | Rigid or Soft | Force Generating Element | Weight (kg) | Peak Torque (Nm) | Torque Density (Nm/kg) | Weight Adaptive Profile | EMG Reduction (%) |
|---|---|---|---|---|---|---|---|---|
| Slaughter et al. ( 2025 ) | Passive | Soft | Elastic band | 1.4 | 35 | 25 | No | NA |
| Koopman et al. ( 2020a ) | Passive | Rigid | Compliant mechanism | 4 | 30 | 7.5 | No | 8 |
| Song et al. ( 2024 ) | Passive | Rigid | Compliant mechanism | 5 | 7.04 | 1.41 | No | NA |
| Khatavkar et al. ( 2025 ) | Passive | Soft | Variable stiffness elastic band | 1.2 | 20.4 | 17 | No | NA |
| Lanotte et al. ( 2021 ) | Active | Rigid | Direct drive motor | 8 | 35 | 4.375 | No | 36.3 |
| Li et al. ( 2023 ) | Active | Rigid | Direct drive motor | 6 | N/A | N/A | No | 11.63 |
| Poliero et al. ( 2022 ) | Active | Rigid | Direct drive motor | 8 | 40 | 5 | No | 41 |
| Liao et al. ( 2024 ) | Active | Rigid | SEA | 6.5 | 75 | 11.54 | No | 22.7 |
| Ding et al. ( 2024 ) | Active | Rigid | SEA | 5 | 70 | 14 | No | 12.51 |
| Hyun et al. ( 2020 ) | Active | Rigid | SEA | 5.5 | 94.5 | 17.18 | No | 33 |
| Heo et al. ( 2022 ) | Active | Rigid | Pneumatic cylinder | 9.2 | 80 | 8.7 | No | 25.1 |
| Song et al. ( 2023 ) | Active | Rigid | Cable-drive | 6.3 | 88.2 | 14 | No | 43.75 |
| In Kim et al. ( 2024 ) | Active | Rigid | Motorized spine | 5.75 | N/A | N/A | No | NA |
| Chen et al. ( 2025 ) | Active | Rigid | Motorized spine | 4.83 | 130 | 26.92 | No | 41.28 |
| Cullen et al. ( 2026 ) | Active | Soft | Cable-drive | 4.35 | 76 | 17.47 | No | 6.7 |
| Chung et al. ( 2024 ) | Active | Soft | Cable-drive | 2.7 | 30 | 11.1 | No | 17.6 |
| This Device | Semi-active | Soft | Variable-elastic actuator | 1.97 | 29 | 14.76 | Yes | 15 |
- 在静电吸附离合器的作用下，装置实现两档可选刚度，将刚度提高约 50%（0.875 到 1.313 N/mm），切换潜伏期＜300 ms。
- 在优化配置下，IPAM 力可在提举任务中达到约 175 N，达到重量自适应。
- 对五名参与者的 EMG 分析显示，在对称提举时背伸肌活动显著降低。
- 被动与主动驱动的组合（可变弹性执行器）在扭矩密度方面可与较重的主动 BSD 相当，同时保持软性、轻量的外形。
- 基于 FMG 与 IMU 的板载重量估计实现了重量自适应力曲线的自主选择。
- 与多项式力表面耦合的动态 IPAM 模型在静态与动态测试中能准确预测装置力。
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