Exoskeletons

Kunyangwe zvakawanda zvakanzwikwa nezve exoskeletons nguva pfupi yadarika, zvinoitika kuti nhoroondo yechigadzirwa ichi inodzokera kuzana ramakore rechigumi nemapfumbamwe. Tsvaga kuti yachinja sei mumakumi emakore uye kuti shanduko mukushanduka kwayo yakaita sei. 

1. Mufananidzo kubva patent yaNikolai Yagn

1890 -Mazano ekutanga ekutanga ekugadzira exoskeleton akadzokera kuzana ramakore rechi 1890. Muna 420179, Nicholas Yagn ane kodzero yepamutemo muUnited States (patent No. US XNUMX A) "Chishandiso chekufambisa kufamba, kumhanya uye kusvetuka" (1) Chakanga chiri nhumbi dzokurwa dzakagadzirwa nematanda, chinangwa chayo chaiva chokuwedzera kumhanya kwemurwi panguva yekufamba kwemakiromita akawanda. Dhizaini yakave sosi yekurudziro yekuwedzera kutsvaga kweiyo yakakwana mhinduro.

1961 - Mumakore makumi matanhatu, General Electric, pamwe chete neboka revasayendisiti kubva kuYunivhesiti yeComell, vakatanga basa pakusikwa kwe electro-hydraulic suit inotsigira kushandiswa kwevanhu. Kudyidzana nemauto paMan Augmentation project kwakatungamira mukuvandudzwa kweHardiman (2) Chinangwa chepurojekiti yaive yekugadzira sutu inotevedzera mafambiro echisikigo emunhu, ichimubvumira kusimudza zvinhu zvinorema 700 kg. Chipfeko pachacho chairema zvakafanana, asi uremu chaihwo hwaingova 20 kg.

2. General Electric prototype kupisa exchanger

Pasinei nekubudirira kweprojekti, zvakazoitika kuti kubatsira kwayo kwakanga kusina basa, uye makopi ekutanga aizodhura. Dzavo shoma sarudzo dzekufamba uye dzakaoma simba system dzakazoita kuti zvishandiso izvi zvisashande. Panguva yekuyedzwa, zvakazoitika kuti Hardiman anogona chete kusimudza 350 kg, uye nekushandisa kwenguva refu ine tsika kune njodzi, isina kurongeka mafambiro. Kubva pakuvandudzwa kweiyo prototype, ruoko rumwe chete rwakasiiwa - mudziyo wairema anenge 250 kg, asi zvakange zvisingaite senge exoskeleton yapfuura.

Ma70. "Nekuda kwehukuru hwayo, huremu, kusagadzikana, uye matambudziko emagetsi, iyo Hardiman haina kumbobvira yapinda mukugadzira, asi iyo indasitiri Man-Mate yakashandisa imwe tekinoroji kubva kuma60s. Kodzero dzetekinoroji dzakatengwa neWestern Space neMarine, yakavambwa nemumwe wevanjiniya veGE. Chigadzirwa chacho chave chakawedzerwa uye nhasi chiripo muchimiro chesimba guru rebhobhoti rinogona kusimudza kusvika ku4500 kg uchishandisa simba remhinduro, zvichiita kuti zvive zvakanaka kune indasitiri yesimbi.

3. Exoskeletons yakavakwa paMihailo Pupin Institute muSerbia.

1972 -Early active exoskeletons uye humanoid marobhoti akagadzirwa paMihailo Pupin Institute muSerbia neboka rinotungamirwa naProf. Miomir Vukobratovich. Kutanga, maitiro ekufamba kwemakumbo akagadzirwa kuti atsigire kugadziriswa kwevanhu vanotambura neparaplegia (3) Paunenge uchigadzira exoskeletons anoshanda, iyo Institute yakagadzirawo nzira dzekuongorora nekudzora kufamba kwevanhu. Kumwe kwekufambira mberi uku kwakabatsira mukuvandudzwa kwemarobhoti anhasi epamusoro anoita humanoid. Muna 1972, pneumatic exoskeleton inoshingaira ine purogiramu yemagetsi yekuoma mitezo yezasi yakaedzwa mukiriniki yemapfupa muBelgrade.

1985 "Injiniya kuLos Alamos National Laboratory ari kuvaka exoskeleton inonzi Pitman, nhumbi dzesimba dzevarwi vetsoka. Kudzora kwechishandiso kwaive kwakavakirwa pamasensor anotarisa pamusoro pedehenya, akaiswa mungowani yakakosha. Tichifunga nezve kugona kwehunyanzvi hwenguva iyoyo, yaive yakanyanya kuoma dhizaini kugadzira. Kuganhurirwa kwaive kunyanya kusakwana kwesimba rekombuta remakomputa. Uye zvakare, kugadzirisa masaini ehuropi uye nekuashandura kuita exoskeleton mafambiro kwakaramba kusingagoneke panguva iyoyo.

4. Exoskeleton Lifesuit, yakagadzirwa naMonty Reed.

1986 - Monty Reed, musoja weU.4) Akafemerwa netsananguro dzemasutu evacheche enhare muRobert Heinlein sainzi yenganonyorwa Starship Troopers, yaakaverenga achipora muchipatara. Zvisinei, Reed haana kutanga kushanda mudziyo wake kusvikira 2001. Muna 2005, akaedza sutu yekununura yeprototype 4,8 mumujaho weSt. Patrick's Day muSeattle, Washington. Mugadziri anoti akaisa rekodhi yekumhanya mumarobhoti sutu, inovhara 4 makiromita paavhareji yekumhanya ye14 km / h. Iyo prototype Lifesuit 1,6 yakakwanisa kuenda 92 km yakazara chaji uye yakabvumidzwa kusimudza XNUMX kg.

1990-iripo - Yekutanga prototype yeHAL exoskeleton yakakurudzirwa naYoshiyuki Sankai (5), prof. University of Tsukuba. Sankai akapedza makore matatu - kubva 1990 kusvika 1993 - achiona ma neuron anodzora kufamba kwemakumbo. Zvakamutorera iye nechikwata chake mamwe makore mana kuti varatidze michina iyi. Yechitatu HAL prototype, yakagadzirwa mukutanga 22nd century, yakabatana nekombuta. Bhatiri pacharo rairema anenge 5 kg, izvo zvakaita kuti risashande. Kusiyana neizvi, iyo yakazotevera modhi HAL-10 yairema 5 kg chete uye yaive nebhatiri nekombiyuta yekudzora yakaputirwa muchiuno chemushandisi. HAL-XNUMX parizvino inhengo ina yekurapa exoskeleton (kunyangwe yezasi-makumbo-chete shanduro iripo) yakagadzirwa nekambani yeJapan Cyberdyne Inc. mukubatana neYunivhesiti yeTsukuba.

5. Purofesa Yoshiyuki Sankai anopa imwe yemhando dze exoskeleton.

Inoshanda ingangoita maawa maviri nemaminitsi makumi mana mukati nekunze. Inobatsira kusimudza zvinhu zvinorema. Nzvimbo yezvinodzora uye dhiraivha mumidziyo mukati mekesi yakaita kuti zvibvire kubvisa "bhegi" iro rine hunhu hweakawanda exoskeletons, dzimwe nguva sechipembenene chikuru. Vanhu vane hypertension, osteoporosis, uye chero mamiriro emwoyo vanofanira kubvunza chiremba vasati vashandisa HAL, uye zvinopesana zvinosanganisira, asi hazvirevi, pacemaker uye pamuviri. Sechikamu cheHAL FIT chirongwa, mugadziri anopa mukana wekushandisa zvirongwa zvekurapa ne exoskeleton kune vese vanorwara uye vane hutano. HAL's mugadziri anoti matanho anotevera ekusimudzira anotarisa pakugadzira sutu yakatetepa iyo inobvumira mushandisi kufamba akasununguka uye kunyange kumhanya. 

2000 - prof. Homayoun Kazeruni nechikwata chake kuEkso Bionics vari kugadzira Universal Human Cargo Carrier, kana HULC (6) is a wireless exoskeleton ine hydraulic drive. Chinangwa chayo ndechekubatsira varwi vanorwa kutakura mitoro inorema kusvika 90 kg kwenguva yakareba, nekumhanya kwakanyanya kwe16 km / h. Iyo sisitimu yakavhurwa kune veruzhinji kuAUSA Winter Symposium muna Kukadzi 26, 2009, pakaitwa chibvumirano cherezinesi naLockheed Martin. Iyo inonyanya kushandiswa mukugadzira iyi titanium, isingaremi asi inodhura zvinhu ine yakakwira mechanic uye simba zvivakwa.

Iyo exoskeleton ine makapu ekuyamwa anokubvumira kutakura zvinhu zvinorema kusvika 68 kg (mudziyo wekusimudza). Simba rinopihwa kubva kumabhatiri mana e-lithium-polymer, ayo anovimbisa kushanda kwakajairika kwechishandiso pakuremerwa kwakakwana kusvika kumaawa makumi maviri. Iyo exoskeleton yakaedzwa mumamiriro akasiyana ehondo uye nemitoro yakasiyana. Mushure mekutevedzana kwekuyedza kwakabudirira mukupera kwa20, akatumirwa kuAfghanistan, kwaakaedzwa panguva yehondo. Pasinei neongororo dzakawanda dzakanaka, chirongwa chakamiswa. Sezvazvakazoitika, dhizaini yakaita kuti zviome kuita mamwe mafambiro uye yakawedzera mutoro pamhasuru, izvo zvaipesana nepfungwa yakajairika yekusikwa kwayo.

2001 - Iyo Berkeley Lower Extremity Exoskeleton (BLEEX) chirongwa, chainyanya kuitirwa mauto, chiri kuenderera mberi. Mukati megadziriro yayo, mibairo inovimbisa yakawanikwa nenzira yezvigadziriso zvinozvimiririra zvakakosha. Chokutanga pane zvose, chigadzirwa chebhobhoti chakasikwa, chakabatanidzwa kumuviri wepasi kuti upe makumbo simba rakawedzerwa. Midziyo iyi yakapihwa mari neDefence Advanced Research Projects Agency (DARPA) uye yakagadziridzwa neBerkeley Robotics uye Human Engineering Laboratory, chikamu cheYunivhesiti yeCalifornia, Berkeley Mechanical Engineering Dhipatimendi. Iyo Berkeley exoskeleton system inopa varwi kugona kutakura mitoro mikuru nekuedza kushoma uye pamusoro pemhando ipi neipi yenzvimbo, sechikafu, midziyo yekununura, kits yekutanga yekubatsira, kutaurirana uye zvombo. Pamusoro pekushandiswa kwechiuto, BLEEX parizvino iri kugadzira mapurojekiti ehurumende. Iyo Robotics uye Human Engineering Laboratory parizvino iri kuferefeta mhinduro dzinotevera: ExoHiker - exoskeleton yakagadzirirwa kunyanya nhengo dzekunze uko kunodiwa kutakura zvinhu zvinorema, ExoClimber - midziyo yevanhu vanokwira makomo marefu, Medical Exoskeleton - exoskeleton yevanhu vakaremara. kugona kwemuviri. matambudziko ekufamba kwemakumbo.

8. Prototype Sarcos XOS 2 mukuita

zvinyorwa

2010 - XOS 2 inooneka (8) kuenderera mberi kweXOS exoskeleton kubva kuSarcos. Chokutanga pane zvose, dhizaini itsva yave yakareruka uye yakavimbika, ichikubvumira kusimudza mitoro inorema kusvika 90 kg mune static. Chigadzirwa chacho chakafanana ne cyborg. Kudzora kunobva pamakumi matatu emagetsi anoita senge majoini ekugadzira. Iyo exoskeleton ine akati wandei ma sensors anotumira masaini kune ma actuators kuburikidza nekombuta. Nenzira iyi, kushanda kwakatsetseka uye kuenderera kunoitika, uye mushandisi haanzwe chero yakakosha kuedza. XOS uremu 68 kg.

2011-iripo - Iyo US Food and Drug Administration (FDA) inobvumidza iyo ReWalk yekurapa exoskeleton (9) Igadziriro inoshandisa masimba masimba kusimbisa makumbo uye inobvumira vanhu vakaoma mitezo kuti vamire vakati twasu, kufamba uye kukwira masitepisi. Simba rinopihwa nebhegi bhatiri. Kudzora kunoitwa pachishandiswa ruoko rwakareruka runobata remote control inoona nekugadzirisa mafambiro emushandisi. Chinhu chose chakagadzirwa naAmit Goffer weIsrael uye chiri kutengeswa neReWalk Robotics Ltd (pakutanga Argo Medical Technologies) kweanenge PLN 85. madhora.

9 Vanhu Vanofamba Vachifamba Vachifamba Maexoskeletons

Panguva yekusunungurwa, zvigadzirwa zvaive zviripo mune zvinyorwa zviviri - ReWalk I uye ReWalk P. Yokutanga inoshandiswa nemasangano ezvokurapa pakutsvakurudza kana zvinangwa zvekurapa pasi pekutariswa kwechiremba wezvokurapa. ReWalk P yakagadzirirwa kushandiswa kwemunhu nevarwere kumba kana munzvimbo dzeveruzhinji. Muna Ndira 2013, shanduro yakagadziridzwa yeReWalk Rehabilitation 2.0 yakaburitswa. Izvi zvakavandudza kukwana kwevanhu vakareba uye zvakavandudza software yekutonga. ReWalk inoda kuti mushandisi ashandise madondoro. Zvirwere zvemwoyo uye fragility yemapfupa zvinonzi contraindications. Iyo inogumira zvakare kukura, mukati me1,6-1,9 m, uye uremu hwemuviri kusvika ku100 kg. Iyi ndiyo chete exoskeleton yaunogona kutyaira mota.

10. Ex Bionics eLEGS

2012 Ekso Bionics, yaimbozivikanwa seBerkeley Bionics, inofumura exoskeleton yayo yekurapa. Iyo purojekiti yakatanga makore maviri apfuura pasi pezita reELEGS (10), uye yaiitirwa kudzorera vanhu vane mitezo yakasiyana yokuoma mitezo. Kufanana neReWalk, kuvaka kunoda kushandiswa kwemadondoro. Bhatiri rinopa simba kweanenge maawa matanhatu ekushandisa. Exo set inodhura nezve 100 zviuru. madhora. MuPoland, chirongwa cheexoskeleton Ekso GT, mudziyo wekurapa wakagadzirirwa kushanda nevarwere vetsinga, unozivikanwa. Magadzirirwo ayo anobvumira kufamba, kusanganisira vanhu mushure mekurohwa, kukuvara kwemusana, varwere vane multiple sclerosis kana vane Guillain-Barré syndrome. Midziyo yacho inogona kushanda nenzira dzakasiyana siyana, zvichienderana nehuwandu hwekusashanda zvakanaka kwemurwere.

2013 - Mindwalker, chirongwa chepfungwa chinodzorwa exoskeleton, inogamuchira mari kubva kuEuropean Union. Dhizaini iyi mhedzisiro yekubatana pakati pemasayendisiti kubva kuFree University yeBrussels neSanta Lucia Foundation muItaly. Vatsvakurudzi vakaedza nzira dzakasiyana dzekudzora chigadziro - vanotenda kuti brain-neuro-computer interface (BNCI) inoshanda zvakanakisisa, iyo inokubvumira kuti uidzore nemafungiro. Zviratidzo zvinopfuura pakati pehuropi nekombuta, zvichipfuura nemuzongoza. Mindwalker inoshandura zviratidzo zveEMG, kureva, zviduku (zvinonzi myopotentials) zvinoonekwa pamusoro peganda remunhu kana tsandanyama dziri kushanda, kuita mirairo yekufambisa kwemagetsi. Iyo exoskeleton yakareruka, inorema 30 kg chete isina mabhatiri. Ichatsigira munhu mukuru anorema kusvika ku100 kg.

2016 - Iyo ETH Technical University muZurich, Switzerland, inoitisa makwikwi ekutanga emitambo yeCybathlon kuvanhu vakaremara vachishandisa marobhoti anobatsira. Chimwe chezvirango chaive nhangemutange yekubvisa mapfupa panzira yezvipingamupinyi kune vanhu vakaoma mitezo yezasi. Mukuratidzira uku kwehunyanzvi uye tekinoroji, vashandisi veexoskeleton vaifanira kuita mabasa akadai sekugara pasofa nekusimuka, kufamba pamateru, kutsika pamatombo (sepakuyambuka rwizi rwegomo risina kudzika), uye kukwira masitepisi. Zvakazoitika kuti hapana aikwanisa kuita maekisesaizi ese, uye zvakatora zvikwata zvinomhanyisa kupfuura maminetsi makumi mashanu kuti vapedze iyo 50-mita chipingamupinyi kosi. Chiitiko chinotevera chichaitika muna 8 sechiratidzo chekuvandudza tekinoroji exoskeleton.

2019 - Munguva yekuratidzira kwechirimo paCommando Training Center muLympston, UK, Richard Browning, muvambi uye CEO weGravity Industries, akaratidzira Daedalus Mark 1 exoskeleton jet sutu, iyo yakaita fungidziro huru pamauto, uye kwete maBritish chete. Injini nhanhatu dzejeti - mbiri dzadzo dzakaiswa kumashure uye mbiri muchimiro chekuwedzera mapeya paruoko rumwe norumwe - inobvumidza iwe kukwira kusvika kureba kusvika pamamita 600. Kusvika ikozvino, kune mafuta anokwana chete kwemaminitsi gumi ndege...