The characteristic analysis of human-machine interaction force of Lower extremity exoskeleton
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    Abstract:

    Objective In view of the optimization of lower extremity exoskeleton structure, the effectiveness of control algorithms and the evaluation of wearing comfort, it is objectively necessary to quantitatively analyze the characteristics of human-computer interaction dynamics and dynamic load of the musculoskeletal system. However, it is still a challenging subject to directly measure the six-dimensional interaction force between human and exoskeleton using mechanical sensing technology. Mtehods This research proposes a human-machine coupling dynamics modeling method based on virtual muscles. First, in the exoskeleton wear experiment, the human motion capture system and self-developed mechanical monitoring device are used to obtain the wearer’s walking dynamics, electromyography signals, exoskeleton drive status and local human-computer interaction information; The human-machine coupling model is established in the bone system modeling environment, and the gait experiment data and the exoskeleton joint torque are used as the driving information of the coupling model to perform inverse mechanical calculations. Finally, by adjusting the strength and stiffness parameters of the virtual muscles, the real data of the model is compared with the experimental test results to quantitatively evaluate the effectiveness of the human-machine replacement model of the lower extremity exoskeleton. Results The results show that the normal interaction force calculated by the inverse dynamics of the coupled model and the activation of the lower limb muscles have good consistency in the response curve trend compared with the measurement results of the gait experiment. The normal interaction force has 5 peaks in the gait cycle. The error of the first peak of the interaction force in the positive X direction is 8%, the error of the second and third peaks are 23% and 22%, and the error of the peak of the two interaction forces in the negative X direction is 0.1% and 2%, respectively , The peak error of lower limb muscle activation is less than 5%. Conclusions The human-machine coupling model proposed in this paper can effectively calculate the interaction force between human and exoskeleton. The establishment of the coupling model can provide a theoretical basis for the verification and iteration of the exoskeleton structure optimization and control algorithm, as well as the performance evaluation of the exoskeleton"s mobility assistance effect.

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History
  • Received:February 08,2021
  • Revised:March 31,2021
  • Adopted:April 06,2021
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