The Design Principle And Method Of Wearable Robots To Extend The Motion And Load Carriage Capabilities Of The Human Body

How to extend the motion and load carriage capabilities of human beings using approaches in engineering science has long been the dream of scientists and has also become the hot-spot issue and challenge in the field of human-robot collaboration.The aim of this dissertation is to establish the design principle and method of wearable robots to extend the human motion and load carriage capabilities by quantitative studies on the movement principles of humans and animals.The following innovative results have been achieved in the dissertation:1.For the requirement of replicating functional movements of the human upper limb using exoskeleton robots,the experimental paradigm of human upper limb functional movements is established.The method to extract the characteristic movements of the human upper limb is proposed,and the upper limb joint movements data is analyzed using the correlation coefficient-based cluster analysis.The principle to mechanically replicate the characteristic movements of the human upper limb is established,and the underactuated mechanism can be constructed using a recursive design approach.The wrench is used to capture the motion intention of the upper limb,and a Riemannian metric is proposed to measure the approximation in the six-dimensional space.The motion intention driven underactuated exoskeleton motion control problem is transformed into the least square actuation space speed generation problem.The experiment is carried out to verify the design principle and control method of the underactuated exoskeleton robot.2.The anti-phase motion approach is proposed to reduce the metabolic cost in human loaded walking.The human arm swing in walking inspires us to use the dynamic swing of the load with arms to reduce the metabolic cost in loaded walking and the design approach of the passive loaded swing device is proposed.The relationship between the swing amplitude and metabolic cost is investigated in loaded walking,and we find that the natural arm swing could achieve a net metabolic rate lower than the suppressed arm swing,while enhanced arm swing increases the metabolic expenditure.The horse's nodding movements and the jockey's oscillating legs inspire us to use out-of-phase motions between the load and human trunk to reduce the metabolic cost in loaded walking.Force ellipse is proposed to evaluate the force bearing capability of the lower limbs,which together with a reduction in system center of mass principle provides a theoretical basis for the anti-phase motions in human loaded walking.3.The approach to minimize the inertial force of the load acting on the human is proposed to reduce the metabolic cost and alleviate the musculoskeletal injuries in loaded walking.The time and frequency domain analysis of vertical acceleration of the human trunk in loaded walking is proposed.The design,modelling and identification of a portable lightweight active backpack are presented,and the disturbance observer-based acceleration tracking control approach and PD based acceleration generation method are proposed.When the carrier walks at 5 km/h with a 19.4 kg load,the control strategy could reduce 98% of the peak load acceleration on average and achieve a gross metabolic reduction of 11% compared with loaded walking with a rucksack.4.The double active pack is proposed to solve the disturbance torque problem in the active backpack and further reduce the metabolic cost in loaded walking.The double active pack design principle is proposed,where the load is separated into two parts with equal mass and oscillates with the same amplitude.The iterative learning acceleration control is presented,and the experiment is performed to validate the effectiveness of the anti-phase approach.We find that the metabolic rate in loaded walking decreases monotonically as the oscillation amplitude of the load increases.For carriers walking at 5.6 km/h with a 27 kg load,the metabolic rate in loaded walking with fixed loads can be reduced by 15% using the antiphase strategy.