Study On The Assistance Function Of Non-powered Soft Wearable Lower Limb Exosuits Equipment

Soft wearable lower limb exoskeleton booster is a device which is worn on the human body,can assist walking,and can provide power for human movement.In recent years,the soft wearable lower limb exosuit equipment has gradually attracted people's attention due to its lightweight,portability and high efficiency.Therefore,this subject is based on the analysis of the soft wearable lower limb exoskeleton equipment both here and abroad,and the influence of the mechanism of lower limb movement,the design principle of exoskeleton equipment and the performance of wearable fabric on the power-assisting function of non-dynamic soft wearable lower limb exoskeleton equipment was studied.Based on the plantar pressure test,the boost function of the prototype equipment was tested.Finally,the wearing comfort of the prototype equipment was analyzed through subjective and objective interactive evaluation.Firstly,the characteristics of human lower limb movement are analyzed based on human anatomy,and a lower limb skeleton-muscle-joint model is constructed on the basis of human biomechanics.By analyzing the characteristics of human lower limb gait movement and dividing the movement patterns of lower limbs according to the human anatomical plane,it is concluded that the motion patterns of hip joint,knee joint and ankle joint are mainly in sagittal flexion and extension,while the movement consumption in frontal and horizontal plane is very small.Consequently,in order to simplify the system analysis,the knee and ankle joints were selected as the main auxiliary parts of this study.Secondly,by analyzing the design principles of the soft lower extremity exoskeleton equipment and combining the characteristics of human lower extremity movement,the prototype body structure suitable for human motion is designed based on the standard body size.The prototype of the soft lower extremity exoskeleton equipment is made by stereo cutting method,and then through plane cutting and actual human proofreading,the basic layout of the prototype of the soft lower extremity exoskeleton equipment is obtained.The suitable fabrics were selected through fabric performance test and the prototype clothes were made.Thirdly,the relationship between plantar pressure and human gait is analyzed.Based on the peak plantar pressure,the assistant effect was studied under the condition of wearing prototype clothes or not.In the normal gait cycle,based on the peak plantar pressure,the assistant effect coefficient of the powerless wearable soft lower extremity exoskeleton equipment is 0.2767 under the condition of keeping the external environment unchanged.Finally,through subjective and objective evaluation experiments,the wear satisfaction and comfort were evaluated and analyzed.The prototype of the powerless soft lower extremity exoskeleton equipment was subjectively evaluated by the Richter Scale 7.The overall optimal subjective evaluation values were: sense of oppression was 3.53,sense of restraint was 3.33,sense of slippage was 3.0,sense of weight was 2.73,sense of softness was 3.0,and overall satisfaction was 3.03.The critical value of pressure comfort in different parts of prototype clothes was determined by the analysis of subjective and objective pressure comfort interaction.Through the analysis of subjective and objective pressure comfort interaction evaluation,the critical value of pressure comfort in different parts of the prototype clothes was determined: 1.15kPa~3.93 kPa in the waistband and 2.01 kPa~4.20 kPa in the calf.This research provides ideas for the design of the prototype of non-powered soft wearable lower extremity exoskeleton equipment,provides reference value for the effective test of soft exoskeleton equipment based on the peak plantar pressure standard,and provides reference for its subjective and objective evaluation.There are 48 tables,27 tables and 58 references in this paper.