Design And Evaluation Method Of Outdoor Load-bearing Lower Limb Exoskeleton Robot Syste

Aiming at the problem of one-sided way of exoskeleton evaluation for wearing passive lower limb exoskeleton,the surface electromyography(s EMG)based exoskeleton fatigue threshold(EMGFT)evaluation method is proposed,and its effectiveness for exoskeleton is verified by this method.At the same time,we designed a subjective and objective evaluation system for the exoskeleton based on the parity method,which introduced the human lower limb stability analysis and the scale for Rating of Perceived Exertion(s RPE),and subjectively and objectively validated the evaluation method and used it as an evaluation index to jointly construct the evaluation system.Based on the evaluation system,the exoskeleton is developed and practiced for human-machine optimization,and the feasibility of the evaluation system is finally confirmed.The specific work includes three major parts and application research.In the first part,the anatomy of human lower limbs is used as the basis for research,and the lower limb movement logic analysis and the human-computer relationship of the exoskeleton are studied to analyze the gait of human walking movements.Then the lower limb joints and muscle force characteristics during gait are analyzed,and the main force-emitting muscle groups and joint activity patterns are classified as the basis for subsequent experimental data sources.The s EMGbased passive lower limb exoskeleton evaluation method is proposed.In the second part,the passive lower limb exoskeleton load increment experiment is designed for the exoskeleton use object,and the EMGFT-based exoskeleton effectiveness evaluation is conducted.The experiment starts from the EMGFT algorithm and its principle,carries out the comparison between s EMG and EMGFT methods,and finally chooses to pass the EMGFT as the exoskeleton evaluation index,then develops the experimental design,describes the experimental purpose and design ideas in detail,and also records the experimental environment,equipment,subject situation,and data collection and experimental process in detail.Finally,the efficacy of the exoskeleton was evaluated by EMGFT according to the experimental results.In the third part,the subjective and objective evaluation system of the exoskeleton is constructed.In view of the instability of single data,the lower limb stability analysis and the subjective fatigue scoring system are introduced to validate the exoskeleton evaluation method and construct the evaluation system by using the nature of their mutual influence.This part focuses on demonstrating the practical use of the lower limb stability evaluation method and subjective fatigue scoring,and comparing the subjective and objective fatigue states,proving the advantages of the method and giving the evaluation results,as well as giving experimental conclusions.In the application research part,according to the constructed exoskeleton subjective and objective evaluation system,human-machine optimization practice is carried out for the experimental passive lower limb exoskeleton prototype,and multiple optimization directions given by the exoskeleton evaluation results are developed respectively.According to the experimental feedback,the rigid structure of the lower limb is designed by combining the results of the lower limb stability analysis,and the leg binding is designed by combining the EMGFT evaluation results.By combining the ergonomic design principles,the material,structure and shape are used to improve the user comfort.The final optimization results and some optimization examples are given,and the feasibility is verified by the evaluation system,which provides methodological ideas and certain rotation support for future related workers.