Design and power-assistance analysis of a bending-over exoskeleton robot

Conference on Intelligent and Human-Computer Interaction Technology Pub Date : 2022-10-07 DOI:10.1117/12.2655660

Yeyan Ning, Jun Cai, Yunji Li, Zhenyu Zhang, Chunlei Wang

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Abstract

The stooping and handling exoskeleton robot integrating multi-field technologies such as mechatronics, human-computer interaction, gait analysis and intelligence is an important development direction in the field of robot research and development in recent years. The boosting efficiency is the most critical evaluation index in the overall performance of the exoskeleton robot. In this paper, by analyzing the changes of the human lumbar spine force in the state of normal bending and carrying under the state of natural motion cycle, the state of wearing the exoskeleton without assistance, and the state of wearing exoskeleton assistance, this paper establishes a bending and carrying model, completes the force analysis, and deduces the power-assisting efficiency. Compare the calculation formula, and design a wearable stooping exoskeleton robot based on this, and conduct EMG experiment data in three states to collect the changes of the user's biomechanical signals. The percentage of EMG signal amplitude of the erector spinae muscles of the waist in the state decreased by 39.3%, verifying its beneficial effect on users.

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弯曲外骨骼机器人的设计与动力辅助分析

集机电一体化、人机交互、步态分析、智能等多领域技术于一体的弯腰搬运外骨骼机器人是近年来机器人研发领域的重要发展方向。助推效率是外骨骼机器人整体性能中最关键的评价指标。本文通过分析在自然运动循环状态、无辅助佩戴外骨骼状态、佩戴外骨骼辅助佩戴状态下，人体腰椎在正常弯曲搬运状态下的受力变化，建立弯曲搬运模型，完成受力分析，并推导出助力效率。对比计算公式，在此基础上设计可穿戴弯腰外骨骼机器人，并在三种状态下进行肌电实验数据，收集用户生物力学信号的变化。腰部竖脊肌肌电信号幅值在该状态下的百分比下降了39.3%，验证了其对使用者的有益效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Conference on Intelligent and Human-Computer Interaction Technology

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