Design Of Wearable Module For Upper Limb Assistant Exoskeleton

The research of robot is gradually mature with the continuous progress and development of society,science and technology.Exoskeleton robot is a wearable robot that combines human intelligence with the power of mechanical products.The wearable module of exoskeleton connects the mechanical arms and human bo dy,so the research and design of wearable module is very important.In this paper,based on the existing structure of the mechanical arms,a wearable module is proposed.The wearable module not only ensures the requirements of function and strength,but also realizes lightweight and comfort.Based on the design elements of wearable module,this paper completes the design of the backplane structure,the backpack structure and the appearance of the wearable module.And makes subjective and objective evaluation of the wearable module design,which verifies the feasibility of the design.Firstly,the design elements of the wearable module are analyzed.The design requirements of wearable module are obtained by analyzing the typical working posture of human body in the exoskeleton application scene,which can be used as a reference for subsequent design evaluation.The structure and strength requirements of the wearable module are determined by analyzing the structure and working condition of the exoskeleton and the movement space of the mechanical arms.The extraction and analysis of human body size provide reference for the subsequent design of wearable module size.The design requirements of wearable module are summarized to lay the foundation for the subsequent design and verification.Secondly,the wearable module of the upper limb assistant exoskeleton is designed from three aspects: the backplane structure,the backpack structure and the appearance design.According to the installation of the manipulator an d components,the back curve of the person to determine the structure of the backplane,through simulation,check the strength of the backplane structure,and use the topology optimization principle to realize the lightweight of the backplane structure.Th e design of the backpack structure based on the backplane structure can match most of the body size and improve the stability and comfort of wearing.the appearance design of the backplane structure is designed to improve the beauty and neatness of the wearable module.Third,evaluate the wearable module scheme by experiment.Through the EMG signal experiment,the EMG signal of the main stressed muscles of human body is extracted,and the comfort problem of wearable module design is summarized by using JASA three-dimensional fusion analysis method.The subjective evaluation method is used to extract the subjective evaluation of the tested users,and the convenience,comfort and appearance of the wearable module are evaluated through induction and summary.Finally,the guidance and suggestions for the follow-up design and research are put forward.