Comprehensive Performance Evaluation Of Lower Extremities Exoskeleton Robots

As a new type of smart wearable device,the lower extremity exoskeleton robot incorporates advanced research results in the fields of machinery,control,and ergonomics.Because the lower extremity exoskeleton robot can enhance the body's senses,strength,athletic ability and endurance,so it is widely used in military,civilian,medical,nursing and rescue and other aspects.With the gradual deepening of research and the increasing market demand,designer and consumer are commonly concerned that how to use a scientific and reasonable evaluation system to evaluate the overall performance of lower extremity exoskeleton robots,and how to improve the lower extremity exoskeleton robot to achieve better human-computer interaction effects.The purpose of this project is to establish an evaluation system for the comprehensive performance of lower extremity exoskeleton robots.On this basis,the paper evaluates the subjective performance of a non-motivated lower extremity exoskeleton robot.According to the evaluation results,the lower extremity exoskeleton robot is optimized and improved.The main work of the paper is as follows:Firstly,summarize the research status and key technologies of lower extremity exoskeleton robots,look forward to the development trend,and analyze the performance requirements.Referring to the performance evaluation methods of smart wearable devices,sportswear etc.,the paper designs evaluate indicators and research methods of lower extremity exoskeleton robots,and establishes feasible experimental evaluation programs.Secondly,the Delphi method is used to determine the performance evaluation index and evaluation criteria of the lower extremity exoskeleton robot.After two rounds of expert consultation,the comprehensive performance evaluation system of exoskeleton robot of lower extremity is established with three sub-targets of comfort,functionality and versatility as the main trunk,10 primary evaluation indexes as branches and 33 secondary evaluation indexes as branches and leaves.The evaluation criteria for each index are given.Thirdly,combined with the Delphi method,the analytic hierarchy process(AHP)method is improved.And the improved Delphi-AHP method is used to assign the weights of the performance indicators of the lower extremity exoskeleton robots,and the calculation model of the lower extremity exoskeleton robot's comprehensive performance evaluation is established.Finally,conduct performance evaluation experiments on lower extremity exoskeleton robots,and analyze the performance.The evaluation results show that lower extremity exoskeleton robots behave well at comfort and versatility,and are medium at functionality.According to the evaluation results,lower extremity exoskeleton robots is improved.The research results of this paper make up a complete evaluation system,which is helpful to establish the industry standard of lower extremity exoskeleton robots,and can shorten the research and development cycle.In addition,the research results can guide the design,manufacture,and purchase of lower extremity exoskeleton robots.Which will provide scientific basis for the standardized design of exoskeleton robot in lower extremity exoskeleton robots.