无源上肢外骨骼消防辅助性能评估

Fire fighting aid performance evaluation of passive upper extremity exoskeleton

为评估无源上肢外骨骼在消防中的人机辅助性能,模拟了3种不同工位高度的消防任务。通过生理数据采集设备采集了受试者穿戴外骨骼前后的肌电、皮电、呼吸和心率变异性等客观生理数据;采用Borg量表采集了主观疲劳感知数据,并进行了主客观评估。结果表明:该外骨骼对上肢高位、中位和低位3种工位高度的消防任务均有一定助力效果,对高位作业的助力效果最佳,对肩部和背部无不良影响,且主客观评估结果一致,后续可进一步提升对中位和低位作业的辅助效果。

To evaluate the man-machine assistance performance of a passive upper limb exoskeleton in fire fighting,three fire fighting tasks at different workstation heights were simulated.Physiological data acquisition equipment was used to collect electromyography,skin electricity,respiration and heart rate variability before and after wearing the exoskeleton.The subjective fatigue perception data were collected using Borg scale.Through the subjective and objective evaluation,the results showed that this exoskeleton had a certain assistance effect on the fire fighting tasks of upper extremities high,middle and low station heights,among which the assistance effect for the high-position operation was the best.There was no adverse effect on the shoulder and back,and the subjective and objective evaluation results were consistent,which could further enhance the auxiliary effect on the middle and low positions.