腰部助力支撑外骨骼设计与评估研究

Study on design and evaluation of waist-supporting exoskeleton

为了减缓从事于物流装卸、建筑搬运、汽车装配等产业的工人因长期保持弯腰状态或者重复性弯腰起身而造成的肌肉劳损和腰椎损伤,开发了一款被动腰部支撑外骨骼。通过研究弯腰动作机理,依据人体解剖学原理,分析人体上身肌肉分布形态和位置,选取胸肌部位作为外骨骼对人体的作用点。为了满足外骨骼穿戴的舒适性需求,基于人体工程学原理设计外骨骼的构型和绷带位置、宽度。基于批量易装配设计理念,采用模块化设计该外骨骼组件,局部零件应用高强度轻质碳纤维材料,使装置整体质量显著减轻。设计了便于操作的助力支撑/自由随动转换装置,结合弹性扭转件可实现不同模式切换。该支撑外骨骼的局部模块结构尺寸可调,关节拟人化,能满足一款装置多人穿戴需求。该腰部支撑外骨骼兼顾了轻量化、可穿戴性、舒适性及显著的助力支撑效果。8名男性受试者分别在穿戴和不穿戴外骨骼时搬运5~20 kg的重物,同时测量腰竖脊肌、胸竖脊肌、背阔肌及腹直肌4块肌肉的表面肌电信号,获取肌电信号的积分肌电值(IEMG)进行对比评估。试验结果显示,穿戴外骨骼搬运20 kg重物时,腰竖脊肌的IEMG降低了18.17%,胸竖脊肌降低了18.84%,背阔肌降低了13.9%,腹直肌的IEMG基本不变。因此,应用该外骨骼将有效减缓工人背部肌肉疲劳,减轻工人腰椎损伤,帮助工人提高工作效率。

In this article,in order to alleviate the muscle strain and lumbar spine injury caused by the workers in the logistic loading and unloading,construction handling,automobile assembly and other industries due to long-term bending or repeated bending,this article focuses on a passive lumbar-supporting exoskeleton.With the help of the mechanism of bending movement,according to the principles of human anatomy,distribution and position of upper body muscles of human bodies,the pectoral muscles are selected as the point of action of exoskeleton on human bodies.In order to meet the comfort requirements of exoskeleton,configuration,bandage position and width of exoskeleton are designed based on the ergonomic principles,and the design concept of easy assembly is set up in batches.The exoskeleton component is worked out in a modular manner,and some parts are equipped with high strength and light weight.The carbon-fiber materials significantly reduce the overall weight of the device.In addition,the power-assisted support/free follow-up conversion device is easy to operate,in combination with elastic torsion members,switches among different modes.The size of local module-supporting exoskeleton is adjustable.The joints are anthropomorphic,which meet the requirement of multiple people wearing a device.The waist-supporting exoskeleton is taken lightweight design into account.The size of the local module-supporting exoskeleton is adjustable,and the joints are anthropomorphic.The waist-supporting exoskeleton is taken lightweight design into account.The waist-supporting exoskeleton has such characteristics of lightweight design,wearability,comfort,and a significant supporting effect.Eight male subjects have carried a weight of 5~20 kg with and without exoskeleton.At the same time,the surface EMG signals of four muscles of lumbar erector spinae,thoracic erector spinae,latissimus dorsi and rectus abdominis are measured.The integrated electromyographic value IEMG signals for comparison and evaluation.These results show that when an exoskeleton is worn to carry a 20 kg weight,IEMG of lumbar erector spinae reduces by 18.17%,pectoralis erector reduces by 18.84%,latissimus dorsi reduces by 13.9%,rectus abdominis is basically unchanged.Therefore,the application of exoskeleton effectively alleviates the fatigue of back muscles of workers,reduces the injuries of lumbar spine of workers,and helps workers improve working efficiency.