Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 27, Issue 5, Pages 2973-2984Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3127714
Keywords
Energy efficiency; human walking; load carriage; suspended backpack; wearable robot
Categories
Funding
- National Natural Science Foundation of China [U1913205, 52027806]
- Guangdong Basic and Applied Basic Research Foundation [2020B1515120098]
- Science, Technology, and Innovation Commission of Shenzhen Municipality [SGLH20180619172011638, ZDSYS20200811143601004]
- Stable Support Plan Program of Shenzhen Natural Science Fund [20200925174640002]
- Centers for Mechanical Engineering Research and Education at MIT and SUSTech
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This study explores the impact of actively suspended backpack on human energy response, finding that applying upward impulse and inputting energy during the double-support phase can reduce human energy cost, while outputting energy can generate electricity with high efficiency.
The suspended backpack is a wearable robot applied in load carriage to reduce the energetic cost of human walking or harvest energy and generate electricity. An essential problem in the control objective of the suspended backpack is the unknown energetic response of humans, which would affect the human walking cost and energy harvesting efficiency. In this article, we aim to figure out the human response to different patterns of relative load movement and provide high-level instructions for controlling the actively suspended backpack. The additional force induced by the relative load movement is characterized by two independent features: The impulse during the doublesupport phase, and the mechanical work over a step. We predict the human response to different combinations of these two features, with the results validated by experimental energetic cost versus phase of relative load movement, and compared to the empirical data from previous reports. The analyses suggest that the upward impulse during the double-support phase and inputting energy could reduce the energetic cost of humans, and the upward impulse and outputting energy could generate electricity with highenergy harvesting efficiency.
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