Research On Optimal Design Of Active Exoskeleton Upper Computer System And Power Assist Strategy

With the continuous development of society,the role of science and technology in life is also improving,and the exoskeleton robot has gradually come into people’s vision.Exoskeleton robot is a wearable mechanical device that can be used to enhance or restore the movement ability of the human body.It can follow and assist or support the body according to the movement intention of the human body,and has been applied in medical,military and industrial fields.However,in the process of exoskeleton design,cumbersome tests and operations are needed to optimize the exoskeleton robot.In the process of exoskeleton use,it is difficult to track,monitor and control the status information of the exoskeleton.The main innovations of this paper are as follows: the power strategy optimization algorithm is established,the fitness function combining objective data and subjective feelings is proposed,and the Android software and the upper computer software are designed to track and monitor the exoskeleton prototype and optimize its performance.Finally,the optimization experiment and performance evaluation experiment are carried out.The main contents of this paper are as follows:(1)Firstly,the motor joints of human lower limbs were analyzed and the motor characteristics of hip joints were summarized.The mechanical structure and hardware platform of the active hip exoskeleton are introduced.The dynamics model of human lower limbs was established,the hip moment equation was proposed,and the power assist strategies based on position and velocity were proposed and compared.Finally,the filter bandwidth coefficient in the speed-based control algorithm of hip exoskeleton was selected as the gene of genetic algorithm and binary coding was carried out.The objective movement information index of human body and the subjective evaluation of the wearer are used to design the fitness function of the genetic algorithm,and the parameters and operation of the optimization algorithm are set to complete the design of the optimization algorithm.(2)In order to track,monitor and control during the use and optimization of exoskeleton,Android software and upper computer software are designed respectively.Android software:Design function modules of Android software from Bluetooth communication module,command transceiver module and data display module,and design interactive interface.Upper computer software: design function modules of upper computer software from serial communication module,command transceiver module,data display module,data recording module and genetic algorithm module,and design human-computer interaction interface.(3)In order to verify the stability and effectiveness of the designed software and optimization algorithm,the Android software is tested firstly,and the test results show that the Android software has good functions.The upper computer software is used to optimize the optimization test of the assisting strategy for the exoskeleton prototype.The test results show that when the filtering bandwidth coefficient of the assisting strategy is 0.837,its adaptation value is the highest.Finally,human comprehensive metabolic cost,electromyography and other aspects were used to evaluate the comprehensive power assist efficiency of the active hip exoskeleton prototype.The test results showed that the optimized power assist strategy significantly improved the power assist efficiency of the hip exoskeleton compared with the optimization,and the net metabolic power per unit was reduced by about 7.56%.Decreased femoris rectus and hamstring muscle activity by 2.97%and 20.07% on average,but still did not achieve the desired assisting effect.