Science Robotics最新模块化开源外骨骼系统

Core Viewpoint - The research team from Northern Arizona University has developed a modular exoskeleton system that is fully open-source, allowing more researchers to participate in this promising field [1][17]. Group 1: Challenges in Exoskeleton Development - Exoskeleton technology has faced high barriers to entry, requiring expertise in multiple disciplines such as mechanical engineering, electrical engineering, robotics, and biomechanics [4][5]. - Current exoskeleton systems are often specialized for specific applications, limiting their adaptability to new research questions and environments [5]. - The existing systems create technology silos, making it difficult to reproduce research results due to independent software and hardware systems [5]. Group 2: OpenExo's Modular Design - OpenExo addresses these challenges with a modular design, allowing users to easily swap hardware modules and modify configurations without extensive coding or redesign [6][8]. - The system consists of four main components: software system, electronic architecture, hardware interface, and control scheme [8]. - The software is developed using C++ and Arduino, emphasizing modularity and reducing code redundancy [9]. - The electronic architecture is designed to be simple and intuitive, using a single board to control up to four joints, which differs from other open-source projects [9]. - Hardware designs include direct-drive hip joints and Bowden cable-driven ankle joints, all compatible with the same belt interface for quick assembly [10]. Group 3: Performance Validation - The system demonstrates high torque tracking accuracy, with root mean square errors for hip, ankle, and elbow joints being 0.30 Nm, 2.00 Nm, and 0.84 Nm respectively [12]. - Battery tests show that the hip joint configuration can run for 35 minutes, while the ankle configuration lasts 25 minutes, indicating potential for extended use with improved battery capacity [12]. - Real-world tests show that the exoskeleton reduces transportation costs by 8% to 18% in various walking scenarios, highlighting its practical value [13][15]. Group 4: Open Source and Community Engagement - OpenExo's significant contribution lies in its open-source philosophy, providing complete software packages, electrical designs, and hardware instructions [17][18]. - The research team aims to create an open research community, inviting contributions from various disciplines to accelerate exoskeleton technology development [19]. - The unified open-source platform allows for large-scale collaborative research, improving the reproducibility of results across different institutions [20]. Group 5: Future Improvements - The research team acknowledges that battery life remains a key limitation, particularly in high-torque applications, and is exploring ways to enhance battery efficiency [21]. - Continuous optimization of the Python application is planned, with features like deep learning and human-machine collaboration being considered for future updates [21].