A Human Body Suit For Carrying And Assisting Study On Exoskeleton Of Wearing Upper Limb

With the rapid development of technology and the rapid advancement of intelligence in various industries,robots with diverse functions are constantly emerging.However,there are still a large number of phenomena in the industrial field that rely solely on manual handling.In response to the problems of human injury,low safety,and significant decrease in efficiency over time caused by high-strength load-bearing operations and frequent handling of heavy objects,this paper designs a transport assisted exoskeleton robot.This robot is a new type of mechatronics integration device proposed to imitate biological exoskeletons,which uses multiple technologies to integrate,Able to coordinate actions according to the wearer’s intentions,provide effective assistance and protection,and complete handling tasks.The main research content of wearable handling assisted exoskeleton robots includes the mechanical design of upper limb exoskeletons and lower limb exoskeletons,the hardware circuit and control strategy design of the control system.The main research work is as follows:Firstly,based on the anatomy of the human upper limbs,a simplified model of the human shoulder joint was constructed by analyzing the shoulder movement of the upper limbs.Based on this,a two link series shoulder motion adaptive tracking mechanism and an overall mechanical structure of the exoskeleton system were designed,and mechanical limits were placed on each joint to prevent equipment failures from causing harm to humans.The human-computer interaction mathematical model of exoskeleton is established,based on which the size parameters of exoskeleton are preliminarily optimized,the D-H coordinate system of exoskeleton is established,and kinematics simulation is carried out.By using the human-machine Monte Carlo motion space comparison method,the minimum size parameters of the exoskeleton that meet the range of human motion are searched for,and a lightweight design is completed.The optimized structure is checked to meet the strength requirements.Next,based on the dynamic simulation results of the upper limb system and the human upper limb motion parameters,the driver that meets the needs was selected.An exoskeleton assistance strategy based on speech module motion intention recognition and closed-loop force control was proposed.Based on this control strategy,a hardware circuit was built and an embedded control system was designed.By setting the required auxiliary force through the button circuit,the voice control commands detected by the speech recognition module are converted into triggering conditions for motor drive,and closed-loop force control is used to control the motor.Compare the detected human-machine interaction force with the expected value to determine the increase in motor torque.Ensure that the exoskeleton provides timely assistance to the human body.Finally,a wearable transport assisted exoskeleton was developed,and its working principle was briefly introduced.The exoskeleton equipment was installed and debugged,and a system experimental platform was built.By comparing the EMG signal amplitude of the middle bundle of the deltoid muscle muscle of the shoulder and the position and posture data of the shoulder when carrying different loads with and without the exoskeleton,the assistance function of the upper limb exoskeleton and the man-machine coupling effect were experimentally verified.The experimental results show that the exoskeleton significantly reduces the strength of shoulder muscles during human transportation,and has high mobility,which can effectively follow the human body,which is conducive to reducing the intensity of transportation work and improving production efficiency.This article proposes a new active upper limb handling assistance exoskeleton system.Starting from the biomechanical analysis of handling,the exoskeleton is innovatively designed with mechanical structure,and an exoskeleton control system is built.Experimental evaluation has been conducted,and it has been proven that the exoskeleton system can provide protection and assistance to the transporter.