一种上肢助力外骨骼机器人运动相容性评价方法

Method for Evaluation Method of Motion Compatibility with Upper Limb Assisted Exoskeleton Robot

针对穿戴上肢助力外骨骼运动相容性难以量化的问题,提出了一种运动相容性评价方法。首先采用D-H参数法建立了上肢外骨骼的运动学模型,开展运动学分析。其次为了探究人与外骨骼在运动中存在的偏差,建立联合仿真模型,利用虚拟样机仿真技术,得到人机交互运动过程的角度偏差及位移偏差。最后提出了四项运动相容性评价指标,表征了上肢外骨骼各关节的运动相容性,验证了该评价方法的合理性。外骨骼运动相容性的研究,有利于开发出舒适性较好的产品。

A slime compatibility evaluation method is proposed for the problem of wearing upper limbs to booster motion compatibility.First,the kinematics model of upper limb outer bone is established by D-H parameterization method,and there is a lack of kinematics.Second,in order to explore the deviation of people and the outer skeleton in motion,establish a joint simulation model,using virtual prototype simulation technology to obtain an angular deviation and displacement deviation of the human machine interaction motion.Finally,four sports compatibility evaluation indicators were proposed,which characterized the motion compatibility of the outer joints of the upper limbs and verified the rationality of the evaluation method.The study of external bone motion compatibility is conducive to the development of better comfort.