Research Of Portable Exoskeleton Human-Machine System Based On Ergonomics

Exoskeleton technology is an emerging technology which simulates human bone and provides support and weight for the human body, and now has become a research focus at home and abroad. The exoskeleton can effectively improve the capacity of exercise and carrying of the human body, according to its application function, and it can be divided into two groups, one for physical rehabilitation training and another for the body strengthening and carrying, while portable exoskeleton belongs to the latter. The exoskeleton contacts with the human body closely, so it should be designed according to the human engineering principle. Treating the exoskeleton system as the research object, this paper analyses the relationship between human and machine of the exoskeleton system and studies the bionic design and the wearing comfort. The main research contents are as follows:1. This paper uses the knowledge of the human body kinematics and anatomy to design the mechanical structure of the exoskeleton and studies degree of freedom and joint motion of the exoskeleton lower limb. Based on these work, the bionic design principles of the portable exoskeleton is proposed and its three-dimensional model is established in the CAD software SolidWorks.2. The motion trajectory planning of the exoskeleton lower limb is studied in this paper. With the method of coordinate transformation and the D-H rule, an exoskeleton lower limb motion model is established and its kinematics simulation analysis is conducted in the Adams software. The simulation results verify the rationality of the bionic design.3. This paper contains the research of human biological reactions. It describes the wearing comfort features of the portable exoskeleton and builds the comfort expression based on the characteristic parameters of muscle fatigue, mental fatigue and body pressure distribution. Then, a comfort optimization model of the system is established.4. This paper contains the research of objective biological experimental measurement about the body wearing comfort. According to the research thought, the human body signals about EMG, ECG and body pressure are collected and processed in the embedded data system. Then the body wearing comfort curve is drawn with the Matlab software, which is helpful for objective analysis of the system comfort condition.5. This paper contains the research of subjective evaluation on the portable exoskeleton wearing comfort. First, the wearing comfort evaluation index is established. Then the extension theory is applied to the hierarchy analytic in order to make the index weight truer and more effective. At last, the fuzzy comprehensive evaluation on the wearing comfort is carried out, and the condition of the exoskeleton wearing comfort gets a comprehensive analysis and evaluation.Based on the ergonomics principle, in this paper, the portable exoskeleton system bionic design is analyzed and the design principle is summarized, which provides a specific reference for optimization design of the exoskeleton mechanical structure. In addition, this paper studies the boy wearing comfort by combining the objective experimental measurement and the subjective comprehensive evaluation, which develops a set of effective evaluation system. Therefore, the study in this paper can provide an important theory basis and an available method reference for improving the system man-machine environment.