Extracting electricity with exosuit braking

doi:10.1126/science.abh4007

GSTDTAP > 气候变化

DOI	10.1126/science.abh4007
	Extracting electricity with exosuit braking
	Raziel Riemer; Richard W. Nuckols; Gregory S. Sawicki
	2021-05-28
发表期刊	Science
出版年	2021
英文摘要	Exoskeletons and exosuits are wearable devices designed to work alongside the musculoskeletal system and reduce the effort needed to walk or run. Exoskeletons can benefit users by reducing the mechanical power and metabolic energy that they need to move about on the factory floor, in the rehabilitation clinic, on the playing field, and out at the shopping mall ([ 1 ][1]). Portable exoskeletons can use motors to add mechanical power into movement phases [net-positive exoskeleton power ([ 2 ][2], [ 3 ][3])] or use springs to store and later return mechanical energy in a regenerative braking action [net-zero exoskeleton power ([ 4 ][4], [ 5 ][5])]. On page 957 of this issue, Shepertycky et al. ([ 6 ][6]) describe a wearable assistive device that uses a generator to extract mechanical energy from the walking cycle (net-negative power) and convert it to electricity. At the same time, the walker actually uses less metabolic energy with the exosuit, saving on the cost to operate muscles as “biological brakes.” Handgrip and pedal-powered dynamos have long been in use and can convert mechanical power to electrical power, and these devices can have efficiencies as high as 70% ([ 7 ][7]). More recently, “hands-free” energy harvesters have been developed that can be worn on the back ([ 8 ][8]) or attached with an exoskeletal structure around the lower-limb joints ([ 9 ][9]–[ 11 ][10]). A performance metric for these devices is the cost of harvesting (COH), which is the ratio of the change in a user's metabolic power (measured in watts) when moving with versus without the device to the electrical power generated by the device. A positive COH means that the user must provide additional metabolic effort to generate electricity. For the examples above, the reported COH values have ranged from 4.8 for the back-mounted device ([ 8 ][8]) to 0.7 for a knee-joint mount ([ 9 ][9]). This latter device developed by Donelan et al. ([ 9 ][9]) incorporated principles from fundamental movement biomechanics to strategically target phases of human walking where the lower-limb joints already resist motion (negative mechanical power) and behave effectively as brakes. Biomechanical analyses combining data from high-speed motion capture and instrumented force platforms with inverse-dynamics calculations reveal that the knee joint acts mostly like a brake during walking, especially at the end of the swing phase, when the foot is in the air (see the figure, top left). Muscles convert metabolic power to mechanical power with 25% efficiency when acting as motors (positive mechanical power output) and −125% efficiency when acting as brakes (negative mechanical power output) ([ 12 ][11]). ![Figure][12] Charging ahead by braking Shepertycky et al. developed an exosuit that reduces the metabolic energy needed by muscles to resist motion during gait. A generator provides the “braking” force and produces electricity. GRAPHIC: V. ALTOUNIAN/ SCIENCE Donelan et al. designed a knee exoskeleton in which a rotary generator attached in parallel with the human knee worked to help off-load biological braking. The resistance of the generator to turning provided the braking torque. With this device, they established that by targeting phases of negative mechanical power, exoskeletons can generate electricity with minimal increase in user effort. If muscles had acted as motors to provide the 1.7 W of mechanical power needed to generate each 1 W of electricity (their device had a 60% conversion efficiency), then users would have had to expend 6.8 W more metabolic power. However, for each 1 W of generated electricity, users only expended 0.7 W of metabolic energy (COH = 0.7). Although this system still required additional user effort, the results suggested that energy can be harvested from gait while at the same time saving metabolic energy—a negative COH. This result highlights a key difference between skeletal muscle and engineered systems, namely, that braking is energetically cheap for machines (like a bicycle hand brake) but expensive for muscles, which have to consume metabolic energy to tense up and maintain braking force, especially when changing length ([ 12 ][11]). Thus, properly timed exoskeleton resistance could provide a portion of the negative muscle power that is normally lost as heat. Rather than requiring additional user effort to perform positive mechanical work on the exoskeleton generator, exoskeleton negative power would save the user the metabolic energy needed for muscle braking ([ 13 ][13]). Shepertycky et al. designed a streamlined exosuit with a negative COH using a feedback-controlled “muscle-centric” loading profile. They specifically targeted the period during very late leg swing ( just before the foot makes contact with the ground) when large braking forces are produced by actively lengthening hamstring muscles (for example, biceps femoris), rather than metabolically inactive passive elastic structures (for example, tendons and ligaments) ([ 14 ][14]). Their “traditional” loading profile ([ 10 ][15]) extracted the same total mechanical energy but resulted in a 3% metabolic penalty. The relatively subtle shift in timing and magnitude of the “muscle-centric” profile resulted in a 2.5% net metabolic benefit—a 5.5% improvement. By strategically placing the device on the user's back, Shepertycky et al. were also able to reduce the carrying cost of their exosuit to just over 1%. This penalty is meager compared with the nearly 20% metabolic increase that was imposed by bulky knee-mounted exoskeletons that weighed 1.65 kg per leg ([ 9 ][9]). Their 1.1-kg device hardware rested at the waist near the user's center of mass. Exosuit support was supplied by tensioning cables that were routed along the posterior thigh and shank. The other ends of these cables were ultimately attached at the ankle to apply forces parallel to the hamstrings (see the figure, top middle). Shepertycky et al. 's energy-extracting exosuit, which achieves a net 2.5% reduction in the metabolic cost of walking along with 0.25 W of generated electricity, may only be the first of many such devices that could achieve a negative COH. Rough calculations based on engineering specifications for generators ([ 7 ][7]), locomotion biomechanics data ([ 15 ][16]), and fundamental muscle physiology relationships ([ 12 ][11]) suggest many opportunities to extend the principle of “resistive assistance” (see the figure, bottom). Targets include lower-limb joints other than the knee, gait phases other than terminal swing, and locomotion tasks other than walking on level ground. More intense gaits like running, where the legs cycle more positive and negative mechanical power, and tasks like walking downhill, descending staircases, or decelerating to a stop all provide increased opportunities for rigid exoskeletons or soft exosuits to assist the body's biological brakes while generating electricity. The next-generation exosuits will begin to integrate physiological sensing systems and machine-learning algorithms to increase the versatility and impact of wearable assistive devices. During the next decade, a new challenge may be the development of an exosuit that minimizes human metabolic energy expenditure on a round-trip course spanning many kilometers over many days with access to a single onboard rechargeable battery. Optimal performance will likely require multijoint, hybrid support strategies that combine injection, extraction, and transfer of both electrical and mechanical energy to adapt continuously to locomotion-task demands and reduce metabolic energy expenditure of the user. Such devices could have several applications, such as extending the range of on-foot search-and-rescue crews, outdoor adventurers, or soldiers on humanitarian missions. In the developing world, an exosuit could provide between 20 and 40% of the electricity needed per person on a typical day. The energy demands of portable electronics and increased recognition of the role of movement in longevity may drive exosuits toward widespread adoption. 1. [↵][17]1. G. S. Sawicki, 2. O. N. 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领域	气候变化 ; 资源环境
URL	查看原文
引用统计
文献类型	期刊论文
条目标识符	http://119.78.100.173/C666/handle/2XK7JSWQ/328852
专题	气候变化资源环境科学
推荐引用方式 GB/T 7714	Raziel Riemer,Richard W. Nuckols,Gregory S. Sawicki. Extracting electricity with exosuit braking[J]. Science,2021.
APA	Raziel Riemer,Richard W. Nuckols,&Gregory S. Sawicki.(2021).Extracting electricity with exosuit braking.Science.
MLA	Raziel Riemer,et al."Extracting electricity with exosuit braking".Science (2021).