腰部助力外骨骼的背板及其绑缚优化设计

Optimization Design of the Back Board and its Binding of the Waist Assistive Exoskeleton

背板是有源腰部助力外骨骼对腰部助力的重要力传递结构,未经人机考量的背板及其绑缚的穿着体验较差。运用人体测量学和人体解剖学知识,从功能性、贴合性、舒适性三个维度考量,对有源腰部助力外骨骼刚性背板及其绑缚进行优化设计。通过增加连接点位、优化弧度、选用轻质材料、减小面积等,设计出人机性能优化的背板,并对绑缚的位置、结构、材料、调节方式等进行优化。最终设计出满足设计要求的背板及其绑缚。实验验证优化后的背板及绑缚的肩部、上背部、下背部主观舒适度评价均有提升。

The back board is an important force transmission structure of the active waist assistive exoskeleton,but the wearing experience of the back board and its binding,which is lack of the consideration of man-machine performance,is not good.Based on the knowledge of anthropometry and human anatomy,the rigid back board and its binding of the active waist assistive exoskeleton are optimally designed from three dimensions:functionality,conformability and comfortability.By adding connection points,optimizing the radian,using light material and reducing the area,the man-machine performance of the back board is improved,and the position,structure,material and adjustment mode of the binding are optimized.The result shows that the back board and its binding designed meet the design requirements,and the subjective comfort ratings for the shoulders,upper back and lower back are improved after optimization.