Mafupa a Exoskeleton

Ngakhale zochulukira zamveka za exoskeletons posachedwa, zikuwoneka kuti mbiri yachidziwitso ichi imabwerera m'zaka za zana la khumi ndi zisanu ndi zinayi. Dziwani momwe zasinthira kwazaka zambiri komanso momwe kusintha kwasinthira kukuwonekera kwake. 

1. Chithunzi kuchokera pa patent ya Nikolai Yagn

1890 - Malingaliro oyamba opanga ma exoskeleton kuyambira zaka za zana la 1890. Mu 420179, Nicholas Yagn patented ku United States (patent No. US XNUMX A) "Chida chothandizira kuyenda, kuthamanga ndi kudumpha" (1). Zinali zida zopangidwa ndi matabwa, zomwe cholinga chake chinali kuonjezera liwiro la msilikali pa ulendo wa makilomita ambiri. Mapangidwewa adakhala gwero lachilimbikitso pakufufuza kwina kwa njira yabwino kwambiri.

1961 - M'zaka za m'ma 60, General Electric, pamodzi ndi gulu la asayansi ochokera ku yunivesite ya Comell, anayamba ntchito yokonza suti ya electro-hydraulic yomwe imathandizira kuchita masewera olimbitsa thupi. Kugwirizana ndi asitikali pantchito ya Man Augmentation kudapangitsa kuti Hardiman (2). Cholinga cha polojekitiyi chinali kupanga suti yomwe imatsanzira kayendedwe kachilengedwe ka munthu, kumulola kukweza zinthu zolemera pafupifupi 700 kg. Chovalacho chinalemera mofanana, koma kulemera kwake kunali 20 kg yokha.

2. General Electric chitsanzo kutentha exchanger

Ngakhale kuti ntchitoyo inayenda bwino, zinapezeka kuti zothandiza zake zinali zopanda pake, ndipo makope oyambirira adzakhala okwera mtengo. Zosankha zawo zochepa zoyenda komanso dongosolo lamphamvu lamphamvu pamapeto pake zidapangitsa kuti zidazi zisagwiritsidwe ntchito. Pakuyesedwa, kunapezeka kuti Hardiman akhoza kukweza makilogalamu 350 okha, ndipo pogwiritsa ntchito nthawi yayitali amakhala ndi chizolowezi choopsa, chosagwirizana. Kuchokera ku chitukuko cha prototype, mkono umodzi wokha unasiyidwa - chipangizocho chinali cholemera makilogalamu 250, koma chinali chosatheka ngati exoskeleton yapitayi.

Zaka za m'ma 70. "Chifukwa cha kukula kwake, kulemera kwake, kusakhazikika, ndi mavuto a mphamvu, Hardiman sanayambe kupanga, koma mafakitale a Man-Mate adagwiritsa ntchito luso lamakono la 60s. Ufulu waukadaulo unagulidwa ndi Western Space ndi Marine, yomwe idakhazikitsidwa ndi m'modzi mwa akatswiri a GE. Chogulitsacho chapangidwanso, ndipo lero chilipo ngati mkono waukulu wa robotic womwe ukhoza kukweza mpaka 4500 kg pogwiritsa ntchito mphamvu zowonjezera, zomwe zimapangitsa kuti zikhale zoyenera kwa mafakitale azitsulo.

3. Mafupa opangidwa ku Mihailo Pupin Institute ku Serbia.

1972 - Ma exoskeleton oyambirira ogwira ntchito ndi maloboti a humanoid adapangidwa ku Mihailo Pupin Institute ku Serbia ndi gulu lotsogozedwa ndi prof. Miomir Vukobratovich Choyamba, machitidwe oyendetsa miyendo apangidwa kuti athandizire kukonzanso anthu omwe akudwala paraplegia (3). Popanga ma exoskeleton omwe amagwira ntchito, bungweli lidapanganso njira zowunikira ndikuwongolera kuyenda kwamunthu. Zina mwazotukukazi zathandizira kupanga maloboti amakono a humanoid. Mu 1972, exoskeleton yogwira pneumatic yokhala ndi pulogalamu yamagetsi ya ziwalo za m'munsi inayesedwa mu chipatala cha mafupa ku Belgrade.

1985 "Katswiri wina wa ku Los Alamos National Laboratory akumanga chipolopolo chotchedwa Pitman, zida zamphamvu za asilikali oyenda pansi. Kuwongolera kwa chipangizocho kunali kozikidwa pa masensa omwe amajambula pamwamba pa chigaza, amaikidwa mu chisoti chapadera. Poganizira luso laukadaulo wanthawiyo, zidali zovuta kupanga kupanga. Cholepheretsa chinali makamaka kuperewera kwa mphamvu zamakompyuta zamakompyuta. Kuphatikiza apo, kukonza ma siginecha a muubongo ndikuwasintha kukhala mayendedwe a exoskeleton kunali kosatheka kwenikweni panthawiyo.

4. Exoskeleton Lifesuit, yopangidwa ndi Monty Reed.

1986 - Monty Reed, msirikali wankhondo waku US yemwe adathyoka msana pomwe akuwuluka, akupanga suti yopulumuka (exoskeleton)4). Adauziridwa ndi malongosoledwe a suti za ana oyenda m'manja mu buku lopeka la sayansi la Robert Heinlein la Starship Troopers, lomwe adawerenga akuchira m'chipatala. Komabe, Reed sanayambe ntchito pa chipangizo chake mpaka 2001. Mu 2005, adayesa njira yopulumutsira ya 4,8 pa mpikisano wa St. Patrick's Day ku Seattle, Washington. Wopanga mapulogalamuyo akuti adakhazikitsa liwiro loyenda mu suti za robot, zomwe zimakwana makilomita 4 pamtunda wa 14 km / h. The chitsanzo Lifesuit 1,6 anatha kupita 92 Km ndi mlandu mokwanira ndipo analola kukweza XNUMX makilogalamu.

1990-alipo - Choyimira choyamba cha HAL exoskeleton chinaperekedwa ndi Yoshiyuki Sankai (5), Prof. Yunivesite ya Tsukuba. Sankai adakhala zaka zitatu - kuyambira 1990 mpaka 1993 - kuzindikira ma neuron omwe amawongolera kuyenda kwa miyendo. Zinamutengera iye ndi gulu lake zaka zina zinayi kuti awonetse zida. Mtundu wachitatu wa HAL, womwe unapangidwa kumayambiriro kwa zaka za zana la 22, unali wolumikizidwa ndi kompyuta. Batire yokhayo inkalemera pafupifupi 5 kg, zomwe zinapangitsa kuti zikhale zovuta kwambiri. Mosiyana ndi izi, mtundu wamtsogolo wa HAL-10 unkalemera makg 5 okha ndipo anali ndi batri ndi kompyuta yowongolera yomwe idakulungidwa m'chiuno mwa wogwiritsa ntchito. HAL-XNUMX pakadali pano ndi exoskeleton yachipatala ya miyendo inayi (ngakhale mawonekedwe otsika akupezekanso) opangidwa ndi kampani yaku Japan Cyberdyne Inc. mogwirizana ndi yunivesite ya Tsukuba.

5. Pulofesa Yoshiyuki Sankai akupereka imodzi mwa zitsanzo za exoskeleton.

Imagwira ntchito pafupifupi maola 2 mphindi 40 mkati ndi kunja. Amathandiza kunyamula zinthu zolemera. Malo omwe amawongolera ndi kuyendetsa mumtsuko mkati mwake adapangitsa kuti achotse "chikwama" chomwe chimakhala ndi ma exoskeletons ambiri, nthawi zina amafanana ndi tizilombo. Anthu omwe ali ndi matenda oopsa, osteoporosis, ndi vuto lililonse la mtima ayenera kuonana ndi dokotala musanagwiritse ntchito HAL, ndipo zotsutsana zimaphatikizapo, koma osati, pacemaker ndi mimba. Monga gawo la pulogalamu ya HAL FIT, wopanga amapereka mwayi wogwiritsa ntchito magawo a chithandizo ndi exoskeleton kwa odwala komanso athanzi. Wopanga wa HAL akuti magawo otsatirawa akukweza adzayang'ana pakupanga suti yopyapyala yomwe ingathandize wogwiritsa ntchito kuyenda momasuka komanso ngakhale kuthamanga. 

2000 - Prof. Homayoun Kazeruni ndi gulu lake ku Ekso Bionics akupanga Universal Human Cargo Carrier, kapena HULC (6) ndi exoskeleton yopanda zingwe yokhala ndi hydraulic drive. Cholinga chake ndi kuthandiza asilikali omenyana kunyamula katundu wolemera makilogalamu 90 kwa nthawi yaitali, ndi liwiro lalikulu la 16 km / h. Dongosololi lidawululidwa kwa anthu ku AUSA Winter Symposium pa February 26, 2009, pomwe mgwirizano walayisensi udafikiridwa ndi Lockheed Martin. Zomwe zimagwiritsidwa ntchito kwambiri popanga izi ndi titaniyamu, chinthu chopepuka koma chokwera mtengo chokhala ndi makina apamwamba komanso mphamvu.

Exoskeleton ili ndi makapu oyamwa omwe amakulolani kunyamula zinthu zolemera makilogalamu 68 (chipangizo chonyamulira). Mphamvu imaperekedwa kuchokera ku mabatire anayi a lithiamu-polymer, omwe amaonetsetsa kuti chipangizocho chimagwira ntchito bwino kwambiri mpaka maola 20. The exoskeleton anayesedwa mu mikhalidwe zosiyanasiyana nkhondo ndi katundu zosiyanasiyana. Pambuyo pa mayesero angapo opambana mu kugwa kwa 2012, adatumizidwa ku Afghanistan, komwe adayesedwa panthawi ya nkhondo. Ngakhale ndemanga zabwino zambiri, ntchitoyi idayimitsidwa. Zomwe zidachitika, mapangidwewo adapangitsa kuti zikhale zovuta kuchita mayendedwe ena ndikuwonjezera katundu paminofu, zomwe zimatsutsana ndi lingaliro lachilengedwe la chilengedwe chake.

2001 - Ntchito ya Berkeley Lower Extremity Exoskeleton (BLEEX), yomwe poyamba inkapangidwira makamaka asitikali, ikuchitika. Mkati mwake, zotsatira zolonjeza zapezedwa mwa njira zothetsera zodziyimira pawokha zofunika kwambiri. Choyamba, chipangizo cha robotiki chinapangidwa, chomangiriridwa kumunsi kwa thupi kuti chipatse miyendo mphamvu zowonjezera. Zidazi zidathandizidwa ndi Defense Advanced Research Projects Agency (DARPA) ndipo idapangidwa ndi Berkeley Robotic and Human Engineering Laboratory, gawo la University of California, Berkeley Mechanical Engineering Department. Dongosolo la Berkeley exoskeleton limapatsa asitikali kuthekera konyamula katundu wambiri osachita khama komanso pamtunda wamtundu uliwonse, monga chakudya, zida zopulumutsira, zida zothandizira, kulumikizana ndi zida. Kuphatikiza pa ntchito zankhondo, BLEEX ikupanga ntchito zaboma. The Robotic and Human Engineering Laboratory ikufufuza njira zotsatirazi: ExoHiker - exoskeleton yopangidwa makamaka kwa mamembala oyendayenda kumene pakufunika kunyamula zipangizo zolemera, ExoClimber - zipangizo za anthu okwera mapiri okwera, Medical Exoskeleton - exoskeleton kwa anthu olumala. mphamvu zakuthupi. matenda a m'munsi mwa miyendo.

8. Prototype Sarcos XOS 2 ikugwira ntchito

nkhaniyo

2010 - XOS 2 ikuwoneka (8) ndi kupitiriza kwa XOS exoskeleton kuchokera ku Sarcos. Choyamba, mapangidwe atsopanowa akhala opepuka komanso odalirika, kukulolani kukweza katundu wolemera mpaka 90 kg mu static. Chipangizocho chikufanana ndi cyborg. Kuwongolera kumakhazikitsidwa ndi ma actuators makumi atatu omwe amagwira ntchito ngati zolumikizira zopangira. Exoskeleton ili ndi masensa angapo omwe amatumiza ma siginecha kwa ma actuators kudzera pakompyuta. Mwanjira iyi, ntchito yosalala komanso yosalekeza imachitika, ndipo wogwiritsa ntchito samamva kuyesetsa kulikonse. Kulemera kwa XOS ndi 68 kg.

2011-alipo - US Food and Drug Administration (FDA) imavomereza ReWalk Medical exoskeleton (9). Ndi dongosolo lomwe limagwiritsa ntchito zinthu zamphamvu kulimbitsa miyendo ndikulola anthu olumala kuyimirira molunjika, kuyenda ndi kukwera masitepe. Mphamvu zimaperekedwa ndi batri yachikwama. Kuwongolera kumachitika pogwiritsa ntchito chowongolera chosavuta chamanja chomwe chimazindikira ndikuwongolera kayendetsedwe ka wogwiritsa ntchito. Zonsezi zidapangidwa ndi Amit Goffer waku Israeli ndipo zikugulitsidwa ndi ReWalk Robotic Ltd (poyamba Argo Medical Technologies) pafupifupi PLN 85. madola.

9 Anthu Akuyenda M'malo Oyendanso Mafupa

Panthawi yotulutsidwa, zidazo zinalipo m'matembenuzidwe awiri - ReWalk I ndi ReWalk P. Yoyamba imagwiritsidwa ntchito ndi mabungwe azachipatala pofuna kufufuza kapena kuchiza pansi pa kuyang'aniridwa ndi katswiri wa zachipatala. ReWalk P idapangidwa kuti igwiritsidwe ntchito ndi odwala kunyumba kapena m'malo opezeka anthu ambiri. Mu Januware 2013, mtundu wosinthidwa wa ReWalk Rehabilitation 2.0 unatulutsidwa. Izi zidapangitsa kuti anthu azitali azikwanira bwino ndikuwongolera mapulogalamu owongolera. ReWalk imafuna wogwiritsa ntchito ndodo. Matenda a mtima ndi kufooka kwa mafupa amatchulidwa ngati contraindications. Kuchepetsa ndikukula, mkati mwa 1,6-1,9 m, ndi kulemera kwa thupi mpaka 100 kg. Ichi ndiye exoskeleton yokhayo yomwe mutha kuyendetsa galimoto.

10. Ex Bionics eLEGS

2012 Ekso Bionics, yomwe kale imadziwika kuti Berkeley Bionics, ivumbulutsa ma exoskeleton ake azachipatala. Ntchitoyi idayamba zaka ziwiri m'mbuyomu pansi pa dzina la eLEGS (10), ndipo cholinga chake chinali kuthandiza anthu omwe ali ndi ziwalo zosiyanasiyana. Monga ReWalk, kumanga kumafuna kugwiritsa ntchito ndodo. Batire imapereka mphamvu kwa maola osachepera asanu ndi limodzi. Exo anapereka ndalama za 100 zikwi. madola. Ku Poland, pulojekiti ya exoskeleton Ekso GT, chipangizo chachipatala chopangidwa kuti chigwire ntchito ndi odwala minyewa, chimadziwika. Mapangidwe ake amalola kuyenda, kuphatikizapo anthu pambuyo pa kukwapulidwa, kuvulala kwa msana, odwala omwe ali ndi multiple sclerosis kapena matenda a Guillain-Barré. Zipangizozi zimatha kugwira ntchito m'njira zingapo, kutengera momwe wodwalayo amavutikira.

2013 - Mindwalker, polojekiti yoyendetsedwa ndi malingaliro, imalandira ndalama kuchokera ku European Union. Mapangidwewa ndi zotsatira za mgwirizano pakati pa asayansi ochokera ku Free University of Brussels ndi Santa Lucia Foundation ku Italy. Ofufuzawa adayesa njira zosiyanasiyana zoyendetsera chipangizochi - amakhulupirira kuti mawonekedwe a ubongo-neuro-kompyuta (BNCI) amagwira ntchito bwino, zomwe zimakulolani kuti muziwongolera ndi malingaliro. Zizindikiro zimadutsa pakati pa ubongo ndi kompyuta, kudutsa msana. Mindwalker amasintha zizindikiro za EMG, ndiko kuti, mphamvu zazing'ono (zotchedwa myopotentials) zomwe zimawonekera pamwamba pa khungu la munthu pamene minofu ikugwira ntchito, kukhala malamulo oyendetsa magetsi. Exoskeleton ndi yopepuka, yolemera makilogalamu 30 okha popanda mabatire. Zimathandizira munthu wamkulu wolemera mpaka 100 kg.

2016 - ETH Technical University ku Zurich, Switzerland, imakhala ndi mpikisano woyamba wa masewera a Cybathlon kwa anthu olumala pogwiritsa ntchito maloboti othandizira. Chimodzi mwa maphunzirowa chinali mpikisano wa exoskeleton panjira yolepheretsa anthu omwe ali ndi ziwalo za m'munsi. Posonyeza luso ndi luso lamakono, ogwiritsa ntchito ma exoskeleton amayenera kuchita ntchito monga kukhala pabedi ndi kudzuka, kuyenda m'mitsinje, kuponda pamiyala (monga powoloka mtsinje wamapiri osaya), ndi kukwera masitepe. Zinapezeka kuti palibe amene adatha kuchita bwino masewera olimbitsa thupi, ndipo zidatenga magulu othamanga kwambiri kuposa mphindi 50 kuti amalize njira yopingasa yamamita 8. Chotsatira chotsatira chidzachitika mu 2020 ngati chizindikiro cha chitukuko cha teknoloji ya exoskeleton.

2019 - Paziwonetsero zachilimwe ku Commando Training Center ku Lympston, UK, Richard Browning, woyambitsa ndi CEO wa Gravity Industries, adawonetsa Daedalus Mark 1 exoskeleton jet suti, yomwe inachititsa chidwi kwambiri asilikali, osati a British okha. Ma injini ang'onoang'ono asanu ndi limodzi - awiri a iwo amaikidwa kumbuyo ndi awiri mwa mawonekedwe a awiriawiri owonjezera pa mkono uliwonse - amakulolani kukwera mpaka mamita 600. Pakalipano, pali mafuta okwanira kwa mphindi 10 zokha. ndege...