Performance Assessment On Human-Exoskeleton System

The study of human-exoskeleton performance evaluation system is of great significance for guiding and standardizing all kinds of exoskeleton robots.At present,the study of the performance of the exoskeleton system is limited to stability analysis and kinematics analysis,and the performance of human-exoskeleton systems cannot be systematically evaluated.This dissertation focuses on this issue and conducts research on human-exoskeleton system evaluation systems,including the following aspects:The main work of this paper are as follows:(1)Based on the knowledge of human-computer system evaluation in ergonomics,the evaluation indicators of the human-computer system was established hierarchically.Based on the main functions of the human-exoskeleton system to assist the human body to walk,the human-exoskeleton system performance evaluation indicators that are widely used was selected from three aspects as human-like,workload and performance.Provides a theoretical basis for the establishment of human-exoskeleton system performance systems.(2)According to the performance of the exoskeleton system,human-exoskeleton system performance evaluation system was established from the performance evaluation of human-exoskeletons system and performance evaluation of human-exoskeleton interaction system.The stability,efficacy,kinematics,and dynamics evaluation indicators were established in terms of the overall performance evaluation of humans and exoskeletons;Functional and subjective evaluation,safety,and physiology indicators were established in the performance evaluation of human-exoskeleton interaction systems.According to the ergonomics survey method and the experimental method,the tasks performed by humans and exoskeletons and the evaluation parameters of each evaluation index were selected.(3)To evaluate the human-exoskeleton(AIDER 3.2)system performance using the established human and exoskeleton system performance evaluation system.Based on the evaluation parameters of the evaluation system established,experiments were designed to collect data on kinematics,plantar reaction force,interaction force,heart rate,and myoelectricity for different environmental people wearing exoskeletons and not wearing exoskeletons.Use Matlab,SPSS and Vicon Nexus software to process and analyze data.(4)Based on the evaluation parameter results,the kinematics,dynamics,stability,and mechanical energy consumption of human-exoskeleton(AIDER 3.2)system were analyzed.The human-exoskeleton(AIDER 3.2)system was performed when standing,walking,turning and sitting down a series of tasks.the human body's energy consumption,the interactive force of human-machine system,and the influence of physiological functions.Provides reference for system design optimization and control of AIDER 3.2 exoskeleton robot.Based on the performance of human-exoskeleton system,this paper systematically and comprehensively established the human-exoskeleton system performance evaluation system,and selected qualitative or quantitative evaluation parameters for each evaluation index in the system,and each evaluation parameter is simple and widely used.Provide reference for the standardization,performance improvement and guidance of human-exoskeleton systems.