Research On Comfort Design Of Waist-assisted Exoskeleton Robot

The design and development process of exoskeleton robots integrates mechanical design,control algorithms,real-time calculations,variable sensing and other technologies in many fields.During use,it can provide effective mechanical support for user actions.It is used in military,medical,logistics,outdoor sports and other fields.There are relatively broad application prospects.By investigating the scientific research results of exoskeleton robots at home and abroad,it is found that the current research and development and design in the field of exoskeleton robots are mostly concentrated in the field of transmission processes and control algorithms,and less research is conducted on user comfort.In the process of exoskeleton robots moving from the field of experimental research and development to the field of practical application,the comfort of the use process is an important evaluation criterion.Therefore,from the perspective of user comfort,this article takes the waist exoskeleton robot as the research object.Based on the prototype structure and working principle,it uses psychology scene simulation software and human factors engineering simulation software to evaluate and optimize the comfort of the exoskeleton robot.The specific research content is as follows:(1)Through the sorting and analysis of user experience theory,combined with the application process of exoskeleton robots,the user factors and product factors that affect the comfort of the use process are analyzed,and a comfort factor model suitable for exoskeleton robots is constructed.Combining the Norman user experience hierarchy theory,complete the exoskeleton robot comfort hierarchy model.(2)Using E-prime psychology simulation software,Jack human factors engineering analysis software,and Origin technology drawing and data analysis software as tools,analyze the comfort of perception experience,comfort of behavior experience,and comfort of individual experience in the user comfort level.And evaluation methods.Psychological simulation software is used to determine the subject’s visual perception experience,human factors engineering analysis software and data analysis software are used to simulate and analyze the exoskeleton robot use process,and the exoskeleton robot design is evaluated through the simulation results and an optimization plan is proposed.(3)Take the waist-assisted exoskeleton robot prototype as the design object for comfort improvement design practice,determine the design goal by analyzing the application scenario and user needs,and carry out the comfort design according to the design goal.First,improve the comfort of the perception experience by improving the product design;second,improve the comfort of the behavior experience from two aspects: the force process and the interaction process based on the experimental results of the human factor simulation software;finally,improve the motion path of the digital human in different scenarios Motion coupling and follow-up are used to enhance the comfort of the exoskeleton robot’s individual experience.In order to verify the optimization effect of comfort,the improved waist exoskeleton robot was subjected to mechanical analysis,user force simulation and user questionnaire survey to verify the optimization effect.The results show that compared with the prototype,the improved waist-assisted exoskeleton robot has obvious improvements in visual effects,mechanical structure suitability,and force conditions.This optimization method completes the exoskeleton to a certain extent.The robot’s comfort optimization design can be used as a reference for similar comfort enhancement designs.