Ergonomics Research And Design Of Lower Extremity Assistance Exoskeleton Robot

Lower Extremity Assistance Exoskeleton robots can enhance the walking ability of the elderly and physically handicapped people,improve their quality of life and reduce the social burden of costs.In order to improve the wearability and comfort of lower limb exoskeleton robots,it is necessary to conduct ergonomic design research.In this paper,the existing ergonomics theories are applied to the design of lower extremity exoskeleton robot.There are two parts in ergonomic design of lower extremity exoskeleton robot's:the shape design and human-robot interface design.The commonly used structural bionic design needs to involve ergonomics of human anatomy and human physiology theory.Based on the demonstration of structural design,some guidelines for the shape design of lower extremity exoskeletons are given and demonstrated by design examples.Exoskeleton human-robot system includes human-robot information interaction and physical interaction.Human-robot information interaction mainly introduces three kinds of motion control technology,and selects the tactile channel as the interactive mode,and summarizes some suggestions on the human-robot information interface design.In the human-robot physical interaction,the transmission process of human-robot constraint is discussed.The human-robot physical interface design is discussed in two parts:human-robot contact and human-robot connection.Assistance knee joint device is a single joint lower extremity exoskeleton robot,this article as a design example.Mainly to assist the appearance of the knee joint device design and man-machine interface design.