Design And Research On Flexible Exoskeleton System Based On TRIZ

China has entered the aging society,the movement function of senior citizen declines gradually,limb muscle elasticity is getting worse and worse;On the other hand,the number of patients disabled by cerebral apoplexy and traffic accidents also increases year by year.the inconvenience of physical movement brings a lot of troubles to the life of these people and a heavy burden to the family and society.In recent years,the appearance of exoskeleton technology has brought them good news.Exoskeletons can not only replace the heavy rehabilitation training of medical workers,but also provide assistance for patients with certain walking ability to travel and bring hope for their life.This topic carried out the flexible design and research of the lower extremity exoskeleton system on the basis of TRIZ.This paper first introduced eight technical system evolution rules,the object-field analysis,the contradiction analysis of TRIZ.established the innovation question solution flow based on TRIZ.According to the current situation of the development of exoskeletons and TRIZ evolution law,established the exoskeleton research direction and the design requirements and designed the preliminary scheme of whole machine skeleton structure firstly,and then make substance-field analysis and conflict analysis to the knee joint,proceeded flexible design under the guidance of the standard solution,obtained a flexible lower limb exoskeleton which includes two working modes,the power mode and the buffer mode.The exoskeleton can not only assist the user to travel in normal conditions,but also protect the user from rigid shocks in emergencies.Finally,carried out the topological optimization of the main components of the exoskeleton structure based on the variable density method,and the optimal force transfer path was achieved to obtain the optimal structure of the exoskeleton.Carried out the kinematics analysis of the optimized exoskeleton model and obtained the homogeneous transformation matrix of joint motion.Analyzed the dynamics of exoskeleton by Lagrange-equation,The theoretical torque of the exoskeleton joint was obtained through MATLAB programming,used the theoretical torque curve as the driving function,simulated the two working modes of the virtual prototype of the exoskeleton,obtained the angular motion curves of the joints under normal gait and emergency conditions of the exoskeleton respectively,and the feasibility of the structure scheme was verified by comparing the simulation curve with the human body movement standard curve.By comparing different types of autonomous control schemes,it is proposed to use the multi-modal information fusion technology to control the external bones autonomously,use the pressure sensor to detect the trend of limb movement,control the driver to provide power after the controller recognizes,and use the gyroscope to detect the human body posture and joints.when the acceleration exceeds a certain range,activates the joint flexible device.The control scheme was experimentally explored,and the results verified the feasibility of the scheme.At the end of the paper,summarized the work of the full text,and prospected the future development trend of TRIZ and exoskeleton.