基于用户体验的外骨骼机器人舒适性研究

Study of exoskeleton robot comfort based on user experience

为提高外骨骼机器人的使用舒适性,从用户体验角度,结合诺曼提出的3层次理论研究了影响外骨骼机器人舒适性的因素,从而得到操作便利性、运动匹配性、受力均匀性、外形适应性4个评价标准。在此基础上构建了外骨骼机器人舒适性评价指标体系,采用模糊层次分析法建立了外骨骼机器人舒适性综合评价模型。以上肢外骨骼康复机器人为例,设计了5级李克特量表进行问卷调查,对原型机进行了综合定量评估,发现手臂支撑和后背造型的舒适性较差,然后对其进行改进设计,提升外骨骼机器人用户体验的整体舒适性,为外骨骼机器人舒适性定量测评提供参考依据。

In order to improve comfort of exoskeleton robot,the factors influencing exoskeleton robot comfort were studied combined with three hierarchical theories proposed by Norman from viewpoint of user experience to obtain 4 evaluation criteria including operation ease,motion matching,force uniformity,and shape adaptability.On this basis,the evaluation index system of exoskeleton robot comfort was constructed.The comprehensive evaluation model of exoskeleton robot comfort was established using fuzzy analytic hierarchy method.The upper limb exoskeleton rehabilitation robot was taken as an example to design a five-level Likert scale for a questionnaire survey.The comprehensive quantitative evaluation was performed on the prototype.It was found that the comfort of arm support and back shape was poor.Then design was improved to improve overall comfort of exoskeleton robot user experience.This could provide references for the quantitative evaluation of exoskeleton robot comfort.