Design And Preparation Of A Flexible Wearable Assisted Walking Suit

At present,soft exo-suit has a wide application space in the military and civilian fields and medical rehabilitation,which can make people’s lives more convenient.The soft wearable power walking suit is derived from the soft exo-suit and is the outer frame of the soft exo-suit.If the set is supplemented with components such as motor,encoder,sensor and battery,it can assist the human body to walk.This paper studies the six aspects of point optimization,fabric performance,Bowden wire friction coefficient,bionic joint actuator design,structural design,kit preparation and evaluation.The main contents are as follows:Aiming at the problem that the thigh fixed point is located above the knee and will hinder the obstruction of the tibia,the polar coordinate system is used to parameterize the knee joint of the lower limb.The single factor test and the response surface Box-Behnken test are designed.The results show that the optimal position is combined into the polar path.8 cm,the polar angle is 120°,the distance between the calf anchor points is 12 cm,and the muscle at the location is the medial femoral muscle.The fabric was studied.The diving material is applied to the non-direct force part of the suit,and the rigid flexibility,crease recovery,breathability,thermal conductivity,fracture,tear and bursting performance of the diving material are tested;the Velcro is applied to the diving material.The pasting test,by testing the shear strength and peel strength of the Velcro,shows that the hook surface of the hook-type Velcro is most securely attached to the diving material;the webbing is applied to the direct force part of the suit for rigid parts and The connection of the set,the test results show that the four different widths of the webbing meet the requirements of the suit,and the webbing is selected according to the needs.The friction coefficient formula of Bowden cable is derived.The test platform is built and the Bowden cable is tested.The results show that the galvanized stainless steel wire rope and Jagwire wire tube have the lowest friction coefficient and the best force transmission effect.The bionic joint articulator was designed and evaluated.Three fixed point schemes and two anchor schemes were designed respectively.Six kinds of Bowden cable end connections were provided,and the safety and stability of the above schemes were also carried out test.Through the measurement of the size of the table and the effective size reduction according to the performance of the fabric,the structural drawings of the splicing and the connected body are designed.The combination of literature and experiment was used to determine the optimal sewing parameters.The splicing models and the connected suits were prepared by the steps of flat paneling,cutting and sewing.A performance evaluation index system for flexible wearable walking suits is proposed.The fuzzy comprehensive evaluation method was used to evaluate the two styles.The results showed that the evaluation of the splicing suit was good,and the applied indicators needed to be optimized;the evaluation of the connected models was excellent,and there was room for optimization in the reliability index.