Research And Experiment Of Wearable Upper Arm Exoskeleton

In recent years,as the man-machine intelligence system integrating mechanical design,motor dragging,sensor and spatial control that can enhance human strength and assist human body training,exoskeleton has been researched extensively and deeply.It can be applied to military,medical treatment,rescue and daily life.However,current mature exoskeletons are whole skeletons or those aimed at legs,whose price is expensive,design maintenance is complex,and dead weight is heavy,so they are difficult to satisfy market requirement for exoskeleton.Aimed at the problems above,the wearable upper limb exoskeleton with light weight,high flexibility and low cost is researched and designed based on analyzing the movement mechanism of upper arm of human body.Firstly,by analyzing the composition and movement method of upper arm of human body and referring to skeleton kinematics and dynamics principle,it designed the wearable upper arm exoskeleton organ based on dynamo drive.Through carrying out spatial kinematics analysis of upper arm exoskeleton,the relationship between joint angle and spatial position was obtained.Implement dynamics analysis of skeleton arm;establish kinetic equation by using lagrange equation;analyze and simulate the joint stress condition when the arm are carrying object by means of MATLAB software.Then,are the advantages and disadvantages of dynamic joint when comparing with dynamo and drive mode.Drive the brushless dynamo based on field-oriented control algorithm and complete the software and hardware design of drive.Finish the dynamics model of exoskeleton system,and use auto-disturbance rejection controller algorithm to design controller’s control of dynamic joint.At last,according to the structural design and control algorithm of wearable upper arm exoskeleton,establish experiment platform,make test specimen of dynamic joint and verify the control algorithm as well as property of dynamic joint.The experiment result showed that,the drive capability of dynamic joint could totally satisfy requirements;its response to input signal was rapid and was insensitive to the variation of external load.Thus,it laid foundation for the realization of wearable exoskeleton of upper arm.