Structure Optimization And Performance Evaluation Of Leg Exoskeleton For Load-Carrying Augument

Due to the extremity of human strength, endurance, speed,et al., We couldn't lift a weight over 200kg, and can't run more than 10m/s. In a long-term task, we need a break for continue, considering these factors, therefore, it's important and necessary to develop an apparatus for improving human performence. Leg exoskeleton for load-carrying (LELC) is an integrated system that be used to provide the wearer extra-power, while the wearer wouldn't reduce himself's other performance or only a little.Under the support of National Natural Science Foundation of China(NNSFC, NO.50775072), the thsis finished the work as follows. A new LELC driven by hydraulic was developed based on ergonomics, and the hydraulic actuator was checked and anly-sised.The kinematics and dynamic equations of LELC were built with Denavit-Hartenberg method for leg's forword gait. Considering the carrying capacity, dexterity, stiffness and energy consumption in forword movement, the stucture was optimized through analysising with the tool Matlab.Three foundational performance indicators was proposed to evaluate system,including the carrying capacity, the timeliness of following with gait changes, safety and reliability.The result shows:the hydraulic actuator has a comopact structure; however, its stablity factor is a little low respect to the common safety factors. A critical value exists in the return spring to making the hydraulic cylinder to achieve response quickly.The parameter of posi-tion of hydraulic cylinder play an important role in carrying capacity; The LELC has suc-cessfully achieved the desired purpose, it can't reduce the wearer's loading; The method for evaluating system is effective, successfully provide a quantitative basis to evaluate the per-formance of LELC.