Ama-Exoskeletons

Nakuba okuningi kuye kwazwakala mayelana nama-exoskeletons muva nje, kuvela ukuthi umlando walokhu okusunguliwe ubuyela emuva ekhulwini leshumi nesishiyagalolunye. Thola ukuthi ishintshe kanjani phakathi namashumi eminyaka nokuthi ukuguquka kwamaphuzu ekuziphendukeleni kwayo kwakubukeka kanjani. 

1. Umfanekiso ovela kulungelo lobunikazi lika-Nikolai Yagn

1890 - Imibono yokuqala emisha yokudala i-exoskeleton yaqala ngekhulu le-1890. Ngo-420179, u-Nicholas Yagn unelungelo lobunikazi e-United States (I-Patent No. US XNUMX A) "Isisetshenziswa sokusiza ukuhamba, ukugijima nokugxuma" (1). Kwakuyisivikelo esenziwe ngokhuni, inhloso yaso kwakuwukwandisa isivinini seqhawe phakathi nohambo lwamakhilomitha amaningi. Idizayini yaba umthombo wogqozi wokufuna okwengeziwe kwesixazululo esilungile.

1961 - Ngama-60s, i-General Electric, kanye neqembu lososayensi abavela eNyuvesi yaseComella, baqala umsebenzi wokwakha isudi ye-electro-hydraulic ezosekela ukuzivocavoca komuntu. Ukusebenzisana namasosha kuphrojekthi yeMan Augmentation kwaholela ekuthuthukisweni kweHardiman (2). Inhloso yalo msebenzi kwakuwukwakha isudi elingisa ukunyakaza kwemvelo komuntu, okumvumela ukuba aphakamise izinto ezinesisindo esicishe sibe ngu-700 kg. I-costume ngokwayo yayinesisindo esifanayo, kodwa isisindo esibonakalayo sasiyi-20 kg kuphela.

2. I-General Electric prototype exchanger heat

Naphezu kokuphumelela kwephrojekthi, kwavela ukuthi usizo lwawo lwalungenangqondo, futhi amakhophi okuqala azobiza. Izinketho zabo zokuhamba ezinomkhawulo kanye nesistimu yamandla eyinkimbinkimbi ekugcineni yenza lawa madivayisi angasebenziseki. Ngesikhathi sokuhlolwa, kwavela ukuthi u-Hardiman angakwazi ukuphakamisa ama-350 kg kuphela, futhi ngokusetshenziswa isikhathi eside kunomkhuba wokunyakaza okuyingozi, okungahlanganisiwe. Kusukela ekuthuthukisweni okuqhubekayo kwe-prototype, ingalo eyodwa kuphela yashiywa - idivayisi yayinesisindo esingama-250 kg, kodwa kwakungenakwenzeka njenge-exoskeleton yangaphambilini.

Ama-70. - Ngenxa yobukhulu bayo, isisindo, ukungazinzi kanye nezinkinga zamandla, i-Hardiman ayizange iyenze ekukhiqizeni, kodwa ingalo yezimboni ye-Man-Mate ihlanganise ubuchwepheshe obunye be-60s. Amalungelo obuchwepheshe athengwe yi-Western Space and Marine, eyasungulwa omunye wonjiniyela be-GE. Umkhiqizo uphinde wathuthukiswa futhi namuhla ukhona ngendlela yengalo enkulu yerobhothi, esebenzisa impendulo yamandla, engakwazi ukuphakamisa izisindo ezifika ku-4500 kg, okwenza kube kuhle embonini yensimbi.

3. Ama-Exoskeletons akhiwe e-Mihailo Pupin Institute e-Serbia.

1972 - Ama-exoskeleton asebenzayo kanye namarobhothi e-humanoid athuthukiswa e-Mihajlo Pupin Institute eSerbia yiqembu eliholwa nguProf. Miomir Vukobratovich. Okokuqala, izinhlelo zokunyakaza kwemilenze zenzelwe ukusekela ukuvuselelwa kwabantu abakhubazekile (paraplegia).3). Lapho kwakhiwa ama-exoskeleton asebenzayo, isikhungo siphinde sakha izindlela zokuhlaziya nokulawula ukuhamba komuntu. Okunye kwalokhu kuthuthuka kube nomthelela ekwakhiweni kwamarobhothi anamuhla asebenza kahle kakhulu. Ngo-1972, i-exoskeleton ye-pneumatic esebenzayo enezinhlelo ze-elekthronikhi zokukhubazeka kwamaphethelo aphansi yahlolwa emtholampilo wamathambo eBelgrade.

1985 - Unjiniyela e-Los Alamos National Laboratory wakha i-exoskeleton ebizwa ngokuthi i-Pitman, izikhali zamandla zamasosha ahamba ngezinyawo. Ukulawulwa kwedivayisi bekusekelwe kuzinzwa eziskena ubuso bogebhezi, ezibekwe kusigqoko esikhethekile. Uma kubhekwa amakhono obuchwepheshe wangaleso sikhathi, wawuyinkimbinkimbi kakhulu umklamo ukuthi ungakhiqizwa. Umkhawulo ngokuyinhloko bekungamandla ekhompiyutha anganele wamakhompyutha. Ngaphezu kwalokho, ukucubungula amasignali obuchopho nokuwaguqula abe ukunyakaza kwe-exoskeleton kwahlala kungenakwenzeka ngempela ngaleso sikhathi.

4. I-Exoskeleton Lifesuit, eyakhiwe ngu-Monty Reed.

1986 - UMonty Reed, isosha laseMelika elaphuka umgogodla ekugxumeni kweparachute, wenza i-exoskeleton yesudi yokusinda (4). Ugqugquzelwe izincazelo zamasudi ezingane ezihambahambayo anoveli yesayensi eqanjiwe kaRobert Heinlein, i-Starship Troopers, ayifunda ngenkathi elashwa esibhedlela. Nokho, uReed akazange aqale ukusebenza kudivayisi yakhe kuze kube ngu-2001. Ngo-2005, wahlola isudi yokuhlenga eyisibonelo engu-4,8 emjahweni we-St. Patrick's Day e-Seattle, eWashington. Umthuthukisi uthi usethe irekhodi lesivinini sokuhamba ngamasudi erobhothi, ahlanganisa amakhilomitha angu-4 ngesivinini esimaphakathi esingu-14 km/h. I-prototype Lifesuit 1,6 ikwazile ukuhamba ibanga elingu-92 km ishajwe ngokugcwele futhi yavunyelwa ukuphakamisa u-XNUMX kg.

1990-yamanje - I-prototype yokuqala ye-HAL exoskeleton yahlongozwa ngu-Yoshiyuki Sankai (5), uphrof. Inyuvesi yaseTsukuba. U-Sankai uchithe iminyaka emithathu - kusukela ngo-1990 kuya ku-1993 - ehlonza ama-neurons alawula ukunyakaza kwemilenze. Kwamthatha yena nethimba lakhe eminye iminyaka emine ukwenza umfuziselo wemishini. I-prototype yesithathu ye-HAL, eyasungulwa ekuqaleni kwekhulu lama-22, yayixhunywe kukhompyutha. Ibhethri ngokwalo lalilinganiselwa ku-5 kg, okwenza lingasebenzi kakhulu. Ngokuphambene, imodeli yakamuva ye-HAL-10 yayinesisindo esingu-5 kg ​​kuphela futhi yayinebhethri nekhompyutha yokulawula esonge okhalweni lomsebenzisi. I-HAL-XNUMX njengamanje iyi-exoskeleton yezokwelapha enemilenze emine (yize inguqulo yemilenze ephansi kuphela iyatholakala) eyenziwe yinkampani yaseJapan i-Cyberdyne Inc. ngokubambisana neNyuvesi yaseTsukuba.

5. USolwazi Yoshiyuki Sankai wethula enye yamamodeli e-exoskeleton.

Isebenza cishe amahora ama-2 nemizuzu engama-40 ngaphakathi nangaphandle. Isiza ukuphakamisa izinto ezisindayo. Indawo yokulawula kanye nokushayela ezitsheni ngaphakathi kwekesi kwenze kwaba nokwenzeka ukususa "i-backpack" eyisici sama-exoskeleton amaningi, kwesinye isikhathi afana nesinambuzane esikhulu. Abantu abane-hypertension, osteoporosis, nanoma yisiphi isimo senhliziyo kufanele babonane nodokotela ngaphambi kokusebenzisa i-HAL, futhi ukuphikisana kuhlanganisa, kodwa akugcini nje, i-pacemaker nokukhulelwa. Njengengxenye yohlelo lwe-HAL FIT, umenzi unikeza ithuba lokusebenzisa izikhathi zokwelapha nge-exoskeleton kokubili abantu abagulayo nabanempilo. Umklami u-HAL uthi izigaba ezilandelayo zokuthuthukisa zizogxila ekudaleni isudi encane ezovumela umsebenzisi ukuthi ahambe ngokukhululeka futhi agijime. 

2000 – uphrof. U-Homayoun Kazerouni nethimba lakhe kwa-Ekso Bionics bakha i-Human Universal Cargo Carrier, noma i-HULC (6) iyi-exoskeleton engenantambo ene-hydraulic drive. Inhloso yalo ukusiza amasosha alwayo ukuthwala imithwalo enesisindo esingafika ku-90 kg isikhathi eside, ngesivinini esiphezulu se-16 km / h. Uhlelo lwembulwa emphakathini ku-AUSA Winter Symposium ngo-February 26, 2009, lapho kufinyelelwa khona isivumelwano selayisense no-Lockheed Martin. Impahla evelele esetshenziswa kulo mklamo i-titanium, into engasindi kodwa ebiza kakhulu enezakhiwo eziphakeme zomshini namandla.

I-exoskeleton ifakwe izinkomishi zokudonsa ezikuvumela ukuthi uthwale izinto ezinesisindo esingafika ku-68 kg (idivayisi yokuphakamisa). Amandla anikezwa ngamabhethri e-lithium-polymer amane, aqinisekisa ukusebenza okuvamile kwedivayisi ngokulayisha okuphelele kufika emahoreni angama-20. I-exoskeleton ihlolwe ezimweni ezihlukahlukene zokulwa kanye nemithwalo ehlukahlukene. Ngemva kochungechunge lwezivivinyo eziyimpumelelo ekwindla ka-2012, wathunyelwa e-Afghanistan, lapho ahlolwa khona ngesikhathi kunengxabano. Naphezu kokubuyekezwa okuningi okuhle, iphrojekthi yamiswa. Njengoba kwenzeka, ukuklama kwenza kube nzima ukwenza ukunyakaza okuthile futhi empeleni kwandise umthwalo emisipha, okwakuphikisana nomqondo ojwayelekile wokudalwa kwayo.

2001 - Iphrojekthi ye-Berkeley Lower Extremity Exoskeleton (BLEEX), ekuqaleni eyayihloselwe ngokuyinhloko yezempi, iyaqhubeka. Ngaphakathi kohlaka lwayo, imiphumela ethembisayo yafinyelelwa ngendlela yezixazululo ezizimele zokubaluleka okungokoqobo. Okokuqala, kwakhiwa idivayisi yerobhothi eyayixhunywe emzimbeni ophansi ukuze inikeze amandla engeziwe emilenzeni. Izisetshenziswa zixhaswe yi-Defence Advanced Research Projects Agency (DARPA) futhi zathuthukiswa yi-Berkeley Robotics and Human Engineering Laboratory, ingxenye yeNyuvesi yaseCalifornia, uMnyango Wezobunjiniyela Bemishini yaseBerkeley. Uhlelo lukaBerkeley lwe-exoskeleton lunikeza amasosha amandla okuthwala imithwalo emikhulu ngomzamo omncane futhi ngaphezu kwanoma yiluphi uhlobo lwendawo, njengokudla, izinto zokuhlenga, izinto zosizo lokuqala, izinto zokuxhumana nezikhali. Ngokungeziwe ezicelweni zempi, i-BLEEX njengamanje ithuthukisa amaphrojekthi abantu abavamile. I-Laboratory of Robotics and Human Engineering njengamanje icwaninga lezi zixazululo ezilandelayo: I-ExoHiker - i-exoskeleton eklanyelwe ikakhulukazi abahlanganyeli bohambo lapho kunesidingo sokuthutha imishini esindayo, i-ExoClimber - imishini yabantu abaqwala amagquma aphakeme, i-Medical Exoskeleton - i-exoskeleton yabantu abane ukukhubazeka amakhono ngokomzimba. ukuhamba kahle kwemikhawulo engezansi.

8. I-Prototype ye-Sarcos XOS 2 isebenza

umbhalo

2010 - I-XOS 2 iyavela (8) ukuqhutshwa kwe-XOS exoskeleton evela eSarcos. Okokuqala nje, umklamo omusha usulula futhi uthembekile, okukuvumela ukuba uphakamise imithwalo enesisindo esingafika ku-90 kg ngokumile. Idivayisi ifana ne-cyborg. Ukulawula kusekelwe kuma-actuator angamashumi amathathu asebenza njengamajoyinti okwenziwa. I-exoskeleton iqukethe izinzwa eziningana ezidlulisela amasignali kuma-actuator ngekhompyutha. Ngale ndlela, ukusebenza okushelelayo nokuqhubekayo kwenzeka, futhi umsebenzisi akezwa noma yimuphi umzamo obalulekile. Isisindo se-XOS singama-68 kg.

2011-yamanje - I-US Food and Drug Administration (FDA) igunyaze i-ReWalk exoskeleton yezokwelapha (9). Kuwuhlelo olusebenzisa izakhi zamandla ukuqinisa imilenze futhi luvumela abantu abakhubazekile ukuba bame baqonde, bahambe futhi bakhuphuke izitebhisi. Amandla ahlinzekwa ngebhethri lesikhwama. Ukulawula kwenziwa kusetshenziswa isilawuli kude esilula esibanjwa ngesandla esithola futhi silungise ukunyakaza komsebenzisi. Yonke le nto yaklanywa u-Amit Goffer wakwa-Israel futhi ithengiswa ngabakwaReWalk Robotics Ltd (ekuqaleni i-Argo Medical Technologies) cishe ngama-PLN 85. amadola.

Abantu abangu-9 Bahamba Nge-ReWalk Exoskeletons

Ngesikhathi sokukhululwa, imishini yayitholakala ngezinguqulo ezimbili - i-ReWalk I ne-ReWalk P. Eyokuqala isetshenziswa izikhungo zezokwelapha ngokucwaninga noma izinjongo zokwelapha ngaphansi kokuqondiswa kochwepheshe bezokwelapha. I-ReWalk P yenzelwe ukusetshenziswa komuntu siqu iziguli ekhaya noma ezindaweni zomphakathi. NgoJanuwari 2013, kwakhululwa inguqulo ebuyekeziwe ye-ReWalk Rehabilitation 2.0. Lokhu kwathuthukisa ukulingana kwabantu abade futhi kwathuthukisa isofthiwe yokulawula. I-ReWalk idinga ukuthi umsebenzisi asebenzise izinduku. Izifo zenhliziyo kanye ne-bone fragility kuthiwa yi-contraindications. Umkhawulo nawo ukukhula, ngaphakathi kwe-1,6-1,9 m, nesisindo somzimba kufika ku-100 kg. Lona ukuphela kwe-exoskeleton lapho ungashayela khona imoto.

10. Ex Bionics eLEGS

2012 - I-Ekso Bionics, eyayaziwa ngokuthi i-Berkeley Bionics, yethula i-exoskeleton yayo yezokwelapha. Le phrojekthi yaqala eminyakeni emibili ngaphambili ngaphansi kwegama elithi eLEGS (10), futhi yayihloselwe ukuvuselela izimilo zabantu abanamazinga ahlukene okukhubazeka. NjengoReWalk, ukwakhiwa kudinga ukusetshenziswa kwezinduku. Ibhethri inikeza amandla okungenani amahora ayisithupha okusetshenziswa. Isethi ye-Exo ibiza cishe izinkulungwane eziyi-100. amadola. E-Poland, iphrojekthi ye-exoskeleton Ekso GT, idivayisi yezokwelapha eyakhelwe ukusebenza neziguli zemizwa, iyaziwa. Idizayini yayo ivumela ukuhamba, okuhlanganisa abantu ngemva kokushaywa unhlangothi, ukulimala komgogodla, iziguli ezine-multiple sclerosis noma ezine-Guillain-Barré syndrome. Imishini ingasebenza ngezindlela eziningi ezahlukene, kuye ngezinga lokungasebenzi kahle kwesiguli.

2013 - I-Mindwalker, iphrojekthi ye-exoskeleton elawulwa ingqondo, ithola uxhaso ku-European Union. Umklamo uwumphumela wokubambisana phakathi kososayensi base-Free University of Brussels kanye ne-Santa Lucia Foundation e-Italy. Abacwaningi bahlole izindlela ezahlukene zokulawula idivayisi - bakholelwa ukuthi i-brain-neuro-computer interface (BNCI) isebenza kangcono, ekuvumela ukuthi uyilawule ngemicabango yakho. Izimpawu zihamba phakathi kobuchopho nekhompyutha, zidlula umgogodla. I-Mindwalker iguqula amasignali e-EMG, okungamandla amancane (abizwa ngokuthi ama-myopotentials) avela ebusweni besikhumba somuntu lapho imisipha isebenza, abe imiyalo yokunyakaza kwe-elekthronikhi. I-exoskeleton ilula kakhulu, inesisindo esingama-30 kg ngaphandle kwamabhethri. Ingakwazi ukusekela umuntu omdala onesisindo esingafika ku-100 kg.

2016 - I-ETH Zurich, eSwitzerland, isingathe umncintiswano wokuqala wezemidlalo we-Cybathlon wabantu abakhubazekile usebenzisa amarobhothi asizayo. Esinye sezifundo kwakuwumjaho we-exoskeleton enkundleni yesithiyo kubantu abakhubazekile. Kulesi sibonakaliso samakhono nobuchwepheshe, abasebenzisi be-exoskeleton kwakudingeka benze imisebenzi enjengokuhlala nokuma kusofa, ukuhamba emithambekeni, ukunyathela amadwala (njengalapho uwela umfula ongajulile wasezintabeni), kanye nokugibela izitebhisi. Kuvele ukuthi akekho ongakwazi ukuqeda zonke izivivinyo, futhi amaqembu asheshayo athatha imizuzu engaphezu kwengu-50 ukuqeda inkambo yesithiyo yamamitha angu-8. Umcimbi olandelayo uzokwenzeka ngo-2020 njengenkomba yokuthuthukiswa kobuchwepheshe be-exoskeleton.

2019 - Ngesikhathi semibukiso yasehlobo e-Commando Training Centre e-Lympstone, e-UK, u-Richard Browning, umsunguli kanye no-CEO we-Gravity Industries, wabonisa i-jet yakhe ye-Daedalus Mark 1 exoskeleton jet, eyaba nethonya elikhulu kwezempi, hhayi nje eyaseBrithani. Izinjini zejethi ezincane eziyisithupha - ezimbili zazo zifakwe ngemuva kanti ezimbili zisesimweni samapheya engeziwe engalweni ngayinye - zikuvumela ukuthi ukhuphuke ufike endaweni ephakeme ngamamitha angama-600. Kuze kube manje, uphethiloli wanele imizuzu eyi-10 kuphela yendiza. ...