Modelling human postural stability and muscle activation augmented by a supernumerary robotic tail.
Bioinspir Biomim
; 19(6)2024 Sep 23.
Article
em En
| MEDLINE
| ID: mdl-39260411
ABSTRACT
Wearable robots have promising characteristics for human augmentation; however, the the design and specification stage needs to consider biomechanical impact. In this work, musculoskeletal software is used to assess the biomechanical implications of having a two-degrees-of-freedom supernumerary robotic tail mounted posterior to the human trunk. Forward and backward tilting motions were assessed to determine the optimal design specification. Specifically; the key criteria utilised included the centre of pressure, the dynamic wrench exerted by the tail onto the human body and a global muscle activation index. Overall, it was found that use of a supernumerary tail reduced lower limb muscle activation in quiet stance. Furthermore, the optimal design specification required a trade-off between the geometric and inertial characteristics, and the amount of muscle assistance provided by the tail to facilitate safe physical Human-Robot interaction.
Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Robótica
/
Músculo Esquelético
Limite:
Humans
Idioma:
En
Revista:
Bioinspir Biomim
/
Bioinspiration & biomimetics
/
Bioinspiration biomim
Assunto da revista:
BIOLOGIA
/
ENGENHARIA BIOMEDICA
Ano de publicação:
2024
Tipo de documento:
Article
País de afiliação:
Reino Unido
País de publicação:
Reino Unido