Method for detecting power assisting efficiency of load-bearing exoskeleton

Abstract

The invention relates to a method for detecting the power assisting efficiency of a load-bearing exoskeleton. The method comprises the following steps of (1) when a person does not wear the exoskeleton and does not bear a heavy load, obtaining kinematic and dynamic information by using a three-dimensional motion acquisition system and a force measuring treadmill; and verifying a human body joint moment positive test model based on surface electromyogram signals by using the human body joint moment calculated by inverse dynamics as a reference; (2) when the person wears the exoskeleton and bearing a load G1, obtaining the relationship between the time and the moment of the hip joint, the knee joint and the ankle joint by a method based on the surface electromyogram signals; (3) when the person does not wear the exoskeleton and carries out a load bearing test of 0 to 40 kg, testing the relationship between the time and the moment of the hip joint, the knee joint and the ankle joint of the human body under different loads in the time period; and (4) obtaining the ratio of the effective load to the total load according to data, measured in experiments, between the load of the human body and the driving moment of the total joint of the human body when the exoskeleton is not worn under the condition of different loads. The invention provides a novel method for testing the lower limbjoint moment of the exoskeleton.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a method for detecting the assisting efficiency of a weight-bearing exoskeleton. Background technique [0002] The load-bearing exoskeleton is a wearable robot based on the design of the bionic exoskeleton. Through sensor perception and intelligent control technologies, it provides the wearer with body support, motion assistance and enhanced load capacity, and assists the wearer to complete tasks that cannot be completed alone. [0003] However, there is currently no uniform method for testing the power-assistance efficiency of exoskeletons in the industry. Most of them use indirect comprehensive measurement methods to perform performance indicators such as comprehensive physiological information of the human body or exoskeleton sensitivity when completing specific tasks in scenarios where the human body wears or does not wear the exoskeleton. Carry out measurements, s...

AI Technical Summary

Problems solved by technology

These methods all involve human metabolic process, and the measurement error can reach 10%. At the same time, due to the individual factors of different subjects and other environmental factors, there are certain errors in the final test results.

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