Research On Motion Compatibility Of Upper Limb Assisted Exoskeleton Robot

As a kind of wearable mechanical equipment,exoskeleton robot is mainly used to enhance the physical strength of human body.Nowadays,the research of exoskeleton robot is in full swing.Exoskeleton technology is a combination of human kinematics,mechanics,control theory,information perception,artificial intelligence and many other disciplines,with complex technology and prominent safety issues.In this paper,the upper limb exoskeleton robot is taken as the research object,and the motion compatibility evaluation method is studied.The research content includes the analysis of the physiological structure of the human upper limb,the human-machine compatibility mechanism,and the motion compatibility evaluation method.The main work and research contents are as follows: modeling of human upper limb motion,analysis of evaluation methods and compatibility experiment.(1)Study on the physiological structure of human upper limbs and humancomputer compatibility.According to human anatomy and upper limb kinematics,the skeletal structure,joint structure and movement characteristics of human upper limb were analyzed.Taking the shoulder joint as the object,the differences of joint structure and movement form between human body and exoskeleton were analyzed.Aiming at the human-machine motion incompatibility problem,the closed chain freedom combination of human-machine upper limbs was determined by using the closed chain freedom theory of advanced mechanism,and the human-machine compatibility theoretical model was established.(2)Fuzzy evaluation method based on AHP is established.According to ergonomics,the influence parameters of motion compatibility were analyzed.Based on AMP analytic hierarchy process(AHP),the influencing parameters were selected to establish a motion compatibility evaluation model.Using fuzzy evaluation method,fuzzy evaluation matrix R and weight vector ω are determined to complete the motion compatibility evaluation method.(3)Human upper limb motion modeling and exoskeleton kinematics analysis.The upper limb motion model was established according to the bone and motion characteristics of human joints.Referring to the upper limb motion model,the upper limb exoskeleton 3D model was established by optimizing the motion pair combination.Using D-H parameter method,kinematics equation is established,inverse kinematics is solved and verified.Monte Carlo method is used to solve the motion space and verify the correctness of the model.(4)Application of sports compatibility evaluation methods.Carry out simulation experiment research,establish man-machine co-simulation model,and application evaluation method;Virtual prototype simulation technology is used to simulate the motion process.Adams software was used to record the relevant parameters,calculate the evaluation indexes,verify the consistency of the humanmachine motion model,and reflect the problems existing in the exoskeleton structure through the evaluation index data,and guide the improvement method.(5)Experimental verification of prototype.Carry out motion capture experiment,adopt optical motion capture method,collect motion data;According to the characteristics of the motion model,the appropriate marker points of the upper limbs were selected.A questionnaire survey was used to carry out subjective evaluation.Visual 3D software was used to obtain data and calculate evaluation results,and objective evaluation was carried out to comprehensively explain the motion compatibility,which verified the feasibility of the evaluation method.The highlight of this paper is that,aiming at the incompatibility problem of human-machine upper limb motion,a human-machine upper limb motion compatibility model is established by using the closed-chain degree of freedom combination theory.According to ergonomics,a motion parameterization method was used to establish an evaluation model,and a motion compatibility evaluation method based on fuzzy evaluation was proposed.