机身装配辅助上肢外骨骼主客观人机交互性能评估

Human⁃robot Interaction Performance Evaluation for Assistive Assembly Exoskeleton in Fuselage

为了测试辅助装配外骨骼的人机交互性能,10名工人在穿戴和不穿戴辅助外骨骼下,进行了实验室设计主客观实验测试,测量了手臂的肌肉活动、人机在手部接触压力,填写了扩展的NASA⁃TLX主观性能矩阵量表。结果显示辅助外骨骼装置整体上降低了手臂肌肉活动8.6%,降低了手部接触压力20%,其中外骨骼装置对于上臂肌肉活动降低具有更好的效果,达到20%,而对于前臂则造成了肌肉活动增加和操作灵活性的限制;主观性能矩阵量表结果表明,辅助外骨骼对于工人体力和绩效水平的帮助较大,然而增加了工人的认知负荷和受挫程度。因此,辅助外骨骼的使用降低了对工人的体力要求,但是其灵活性设计需要进一步改善。

In order to evaluate the human⁃robot interaction performance of the assistive assembly exoskeleton,10 workers attended the subjective and objective experiments which were designed to test the subjects′muscle activities,hand contact pressure and the subjective extended NASA⁃TLX rating scales under the conditions of with and without exoskeleton in the laboratory.The results showed that the assistive assembly exoskeleton can help to decrease 8.6%of the muscle activities,20%of the hand contact pressures of the overall upper right arm compared with the bare hand operations.And better benefits were acquired in the upper arm muscle activities,decreasing up to 20%.However the assistive assembly exoskeleton increased the muscle activities of the forearm,limited the operation flexibility as well.The results of the extended NASA⁃TLX rating scales illustrated that the physical demands were decreased,operation performances were increased.However the mental demands and frustration were also added.So the assistive exoskeleton helps to decrease the physical demands of the workers,but the adaptability of the exoskeleton should be further improved.