Design of a Passive Weight-Support Exoskeleton of Human-Machine Multi-Link

Abstract

Due to working conditions, workers, teachers, doctors and other occupations need to stand or squat work, while maintaining a long standing or squatting position can lead to muscle soreness and trigger a series of health problems. In response to such problems, we designed a passive, lightweight, easy-to-wear weight-supported exoskeleton. The exoskeleton based on human gait characteristics and sitting characteristics, the use of bionic curve modeling and human-machine multi-link design, to achieve coordination between the exoskeleton, the human body and the environment. At the same time, the design of a three-position sitting slider mechanism, through the adjustment of sitting position to adapt to the needs of different conditions. Finally, we measured the surface electromyography (SEMG) for muscles in the legs to verify that the exoskeleton can reduce the leg muscle activity of the user, improve the comfort of squatting operation, and solve the problem of muscle soreness to some extent. Our work provides a method, a model and an experimental verification for solving the problem of muscle fatigue in squat work, which has certain potential application value.