Wearable Handling Aids Exoskeleton Design And Lower Limb Exoskeleton Research

Exoskeletons have been applied in many fields such as military,medical,industrial,etc.,thanks to the combination of human intelligence and machine power,transport power exoskeleton can greatly improve the efficiency of human body in many complex application scenarios.At present,most of the handling power exoskeleton single on a joint of the human body for power or the use of multiple motors,hydraulic push rods to drive to increase the quality of the overall device,so that its control accuracy and flexibility are greatly reduced and expensive.In the case of not wearing exoskeleton,it will lead to a significant increase in the frequency of lower back diseases of workers engaged in handling activities for a long time.In order to solve this problem,it is very important to develop a suitable price and adapt to multi-scene handling power exoskeleton.This paper firstly analyzes the ergonomics,combines the gait of human walking process and joint freedom and joint motion range in the process of handling,and proposes a modular upper and lower limb handling power exoskeleton scheme according to the data captured by the motion capture experimental equipment,to help the main joints.This model is divided into two parts: the upper limb is driven by a motor;the lower limb uses an elastic element as a power conversion mechanism to reduce the quality of the whole device,and the upper and lower limbs are connected by an adjustable mechanism.Then the key parts of the finite element analysis and optimization,in the case of reducing the quality of the overall device to increase the rationality of the structure design and reliability.In order to get the best power assist effect of the exoskeleton,it needs to have certain wearing comfort.Therefore,D-H parameter method is used to establish a lower limb kinematics model to study the man-machine constraint between human and exoskeleton.MATLAB robot toolbox is used to simulate the kinematics model of lower limb power exoskeleton and solve the trajectory of its end in space.Different sizes of torsion springs are designed according to the different demands of workers and the actual assisting effect is quantified.Finally,the assisted exoskeleton device was built as the experimental platform.The comfort of the designed exoskeleton was verified by the comparison of the motion capture experiment with and without exoskeleton.Through the electromyographic experiment,the curve variation range of electromyographic signal under different handling weights was analyzed and compared to verify the actual assisting effect of the exoskeleton,which confirmed the feasibility of the modular exoskeleton structure design for assisting the human body handling process.