Upper Limb Assisted Exoskeleton Design And Research

Upper limbs power assist exoskeleton is a kind of wearable,human-machine integrative and intelligent exoskeleton device,which is widely used in military field,nerve rehabilitation training field,and other civilian areas.Based on the analysis of the human upper limb physiological structure and motion mechanism,the overall program is proposed,and the five aspects included drive systems,transmission system,the control strategy,sensing system,and the power supply system are established.This paper designs an upper limbs power assist exoskeleton driven by motors,transmission by Bowden cables.Based on the exoskeleton design requirements,three dimensional model of the upper limbs power assist exoskeleton is established in UG,and the key parts are early calculated and designed.The static finite element analysis and lightweight topology optimization design of the important parts are carried out.The experimental data of upper limbs joint movement is collected by using inertial motion capture when moving and lifting the weight,and the characteristics of the flexion angles of shoulder and elbow joint are analyzed.D-H model of upper limb powered exoskeleton is established by using the D-H method to solve the inverse kinematics solution.The mechanism motion space is solved by using the Monte Carlo method.Finally based on the Lagrange equation method simplified dynamic model is built to derive the dynamics equation,and the exoskeleton dynamics simulation analysis is carried out in ADAMS.The model machine of upper limbs power assist exoskeleton is developed,and the experiment platform is set up to test and analyze the characteristic of the load bearing and.power assisting.The exoskeleton efficiency evaluation index system is established,the weight of each index is determined by using AHP method.The method suitable for upper limbs powered exoskeleton effectiveness evaluation is put forward to establish evaluation model.Effectiveness evaluation results are gained based on actual examples to provide some references for further design of powered exoskeletons.