Study On Lightweight And Load-carrying Augmentation Performance Of Lower Extremities Exoskeleton

With continuous progress of military technology,the weaponry and equipment for individual soldiers has increased significantly.The new equipment enhances soldiers' operational ability,but also increases soldiers' load.To reduce the burden of soldiers,it is urgent to develop a power plant that can adapt to the complex terrain environment and assist the soldiers to carry the load.According to authoritative survey data,there are 24 million 720 thousand disabled people with motor dysfunction in China,and only 367 thousand of them have received rehabilitation training.Vigorously developing medical devices with high efficiency of rehabilitation training has become an important way to solve the current dilemma of rehabilitation medicine in China.Research and development of an exoskeleton robot with auxiliary load or rehabilitation training is a powerful way to solve the above two problems.In this paper,the lower extremities exoskeleton(LEE)with load-carrying augmentation performance(LAP)is taken as the research object.In order to improve the lightweight level of LEE with LAP(LEELAP),and find new quantitative indicators for LAP.Based on personification principle,a prototype of LEELAP is designed.A simplified human body simulation model and a human-machine wearable simulation model(HMWSM)are established by using the virtual prototype software ADAMS.The simulation of HMWSM is carried out in running gait,stair climbing and squatting.Taking the thigh of LEELAP as an example,specific methods for obtaining the force condition of LEELAP components under the above three gait conditions are described.A number of dangerous load combinations that may cause lower limb exoskeleton strength failure are extracted,which will be used for subsequent lightweight research.Secondly,taking the thigh as an example,specific process of lightweight research is described in detail.Based on the structural optimization software Optistruct,the optimization model of the thigh is established and iteratively solved.The optimization results of each load combination are compared and analyzed,and the optimal material distribution of the thigh is found out.Two new quantitative index of LAP,?T and ? are proposed.The technical route for obtaining two quantitative indexes is given,and three common gait of the human body:ground walking,stairs and downstairs,and the evaluation of power performance is carried out.