Analysis method for assistance effect of exoskeleton for bending and lifting

Abstract

The present invention relates to the field of bionic exoskeletons, and discloses a method for analyzing the assistance effect of an exoskeleton for bending and lifting, including: when the user is in the same set condition, performing a force analysis on the force received by the user's lumbar spine under three situations: when the user does not wear the exoskeleton, when the user wears the exoskeleton and the exoskeleton is in a non-assist state, and when the user wears the exoskeleton and the exoskeleton is in an assist state; obtaining the values of the first force, the second force, and the third force through the force analysis; judging the magnitudes of the first force and the third force, and the magnitudes of the second force and the third force; if the third force is less than the first force and the third force is less than the second force, the assistance effect of the exoskeleton meets the assistance requirements of the user; if the third force is greater than or equal to the first force or the third force is greater than or equal to the second force, the assistance effect of the exoskeleton cannot meet the assistance requirements of the user.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic exoskeletons, and particularly to a method for analyzing the assistance effect of an exoskeleton for bending and lifting operations. Background Art

[0002] The exoskeleton for bending and lifting operations is an important development direction in the field of robot research and development in recent years. To meet the actual needs in multiple scenarios such as industry, medical treatment, rehabilitation, and logistics, the wearable exoskeleton for bending and lifting operations has become an important guarantee for improving production efficiency, reducing work intensity, reducing physical consumption, and restoring exercise training.

[0003] The assistance effect is the most critical evaluation index in the overall performance of the exoskeleton for bending and lifting operations. At present, the assistance effect is mostly analyzed and judged by collecting the changes in the biomechanical signals of users through experiments. Since the physical conditions of users vary from person to person, and the signal changes are also interfered by various experimental conditions, it is impossible to accurately, quantitatively, and objectively analyze the assistance effect that the exoskeleton robot can provide.

[0004] Therefore, how to accurately judge whether the exoskeleton for bending and lifting operations effectively provides assistance to users has become an urgent technical problem in this field. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for analyzing the assistance effect of an exoskeleton for bending and lifting operations, which can accurately judge whether the exoskeleton for bending and lifting operations effectively provides assistance to users.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A method for analyzing the assistance effect of an exoskeleton for bending and lifting operations, the exoskeleton includes a back pull rod module, a waist support module, a leg support module, and a hip joint assistance module; the back pull rod module is worn on the shoulder and back of the user and fits with the back of the user; the waist support module is connected to the back pull rod module and fixed to the waist of the user; the leg support module is worn on the thigh of the user and is connected to the waist support module through the hip joint assistance module; the hip joint assistance module is used to output and transmit torque to provide assistance when the user bends and lifts an object.

[0008] The analysis method includes:

[0009] Step S100: When the user is in the same set condition, perform a force analysis on the force received by the user's lumbar spine in three cases: when the user is not wearing the exoskeleton, when the user is wearing the exoskeleton and the exoskeleton is in a non-assistance state, and when the user is wearing the exoskeleton and the exoskeleton is in an assistance state.

[0010] Step S200: Obtain the values of the first force, the second force, and the third force through force analysis; the first force is the lumbar spine force of the user when the user is not wearing the exoskeleton; the second force is the lumbar spine force of the user when the user is wearing the exoskeleton and the exoskeleton is in a non-assisted state; the third force is the lumbar spine force of the user when the user is wearing the exoskeleton and the exoskeleton is in an assisted state.

[0011] Step S300: Judge the magnitudes of the first force and the third force, and the magnitudes of the second force and the third force; if the third force is less than the first force and the third force is less than the second force, the assistance effect of the exoskeleton meets the assistance requirements of the user; if the third force is greater than or equal to the first force, or the third force is greater than or equal to the second force, the assistance effect of the exoskeleton cannot meet the assistance requirements of the user.

[0012] This analysis method can accurately judge whether the exoskeleton for bending and lifting effectively assists the user by calculating the lumbar spine forces of the user in three cases when the user is in the same set conditions.

[0013] Optionally, the same set conditions include: in the above three cases, the weight of the object carried by the user is the same, and the bending angle of the spine when the user bends is the same.

[0014] Optionally, the force analysis includes: establishing a plane rectangular coordinate system with the center of the user's lumbar spine as the origin and the sagittal plane of the user as the plane; establishing relationships of force balance and moment balance in the plane rectangular coordinate system to analyze the forces at the origin in three cases.

[0015] Optionally, the specific method for obtaining the first force includes:

[0016] Establish a plane rectangular coordinate system when the user is not wearing the exoskeleton and the user's lumbar spine is in a bending and lifting posture;

[0017] According to the principle of moment balance, establish formula (1):

[0018] G1·L1 + G2·L2 + G3·L3 - G4·L4 - F1·L5 = 0;

[0019] According to the principle of force balance in the vertical direction, establish formula (2):

[0020] G1 + G2 + G3 - G4cosα + F1cosβ = 0;

[0021] According to the principle of force balance in the horizontal direction, establish formula (3):

[0022] G4 sinα - F1sinβ = 0;

[0023] Wherein, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the shoulder load of the user, G4 is the hip joint bearing capacity of the user, F1 is the first force, L1 is the horizontal distance of the carried object from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, and β is the angle between the first force and the vertical direction;

[0024] Calculate the expression of the value of the first force according to formula (1), formula (2) and formula (3):

[0025]

[0026] Optionally, the method for obtaining the second force includes:

[0027] Establish a plane rectangular coordinate system when the user wears the exoskeleton, the exoskeleton is in a non-assisted state, and the user's lumbar spine is in a posture of bending down to carry an object;

[0028] According to the principle of moment balance, establish formula (4):

[0029] G1·L1 + G2·L2 + G3·L3 - G4'·L4 - F2·L5 + G5·L6 = 0;

[0030] According to the principle of force balance in the vertical direction, establish formula (5):

[0031] G1 + G2 + G3 - G4'cosα + F2cosβ + G5 = 0;

[0032] According to the principle of force balance in the horizontal direction, establish formula (6):

[0033] G4'sinα - F2sinβ = 0;

[0034] Wherein, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the shoulder load of the user, G4' is the hip joint bearing capacity of the user, G5 is the gravity of the exoskeleton for bending down to carry an object, F2 is the second force, L1 is the horizontal distance of the carried object from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, L6 is the horizontal distance of the center of gravity of the exoskeleton for bending down to carry an object from the origin, α is the angle between the hip joint bearing capacity and the vertical direction, and β is the angle between the first force and the vertical direction;

[0035] Calculate the expression of the value of the second force according to Formula (4), Formula (5) and Formula (6):

[0036]

[0037] Optionally, the method for obtaining the third force includes:

[0038] Establish a plane rectangular coordinate system when the user wears the exoskeleton, the exoskeleton is in the boosting state, and the user's lumbar spine is in the posture of bending down to carry objects;

[0039] According to the principle of moment balance, establish Formula (7):

[0040] G1·L1 + G2·L2 + G3·L3 - G4'·L4 - F3·L5 + G5·L6 - G6·L7 = 0;

[0041] According to the principle of force balance in the vertical direction, establish Formula (8):

[0042] G1 + G2 + G3 - G4'cosα + F3 cosβ + G6 cosβ = 0;

[0043] According to the principle of force balance in the horizontal direction, establish Formula (9):

[0044] G4'sinα - F3 sinβ - G6 sinβ = 0;

[0045] Wherein, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the load on the user's shoulders, G4' is the bearing capacity of the user's hip joint, G5 is the gravity of the exoskeleton for bending down to carry objects, G6 is the magnitude of the boost that the exoskeleton for bending down to carry objects can provide to the user, F3 is the third force, L1 is the horizontal distance of the object to be carried from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, L6 is the horizontal distance of the center of gravity of the exoskeleton for bending down to carry objects from the origin, L7 is the lever arm of the boost provided by the exoskeleton for bending down to carry objects relative to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, β is the angle between the first force and the vertical direction, and the boost provided by the exoskeleton for bending down to carry objects to the user is parallel to the direction of the first force;

[0046] Calculate the expression of the value of the third force according to Formula (7), Formula (8) and Formula (9): Description of the Drawings

[0047] The accompanying drawings of the specification, which form a part of this application, are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and shall not unduly limit the present invention. Among them:

[0048] Figure 1 It is a schematic structural diagram of an exoskeleton for bending and lifting when worn by a user;

[0049] Figure 2 It is a flowchart of a method for analyzing the boosting effect of an exoskeleton for bending and lifting provided by an embodiment of the present invention;

[0050] Figure 3 It is a schematic diagram of the force analysis of the first force in the method for analyzing the boosting effect of an exoskeleton for bending and lifting provided by an embodiment of the present invention;

[0051] Figure 4 It is a schematic diagram of the force analysis of the second force in the method for analyzing the boosting effect of an exoskeleton for bending and lifting provided by an embodiment of the present invention;

[0052] Figure 5 It is a schematic diagram of the force analysis of the third force in the method for analyzing the boosting effect of an exoskeleton for bending and lifting provided by an embodiment of the present invention.

[0053] Icons: 1 - Back pull rod module; 2 - Waist support module; 3 - Hip joint boosting module; 4 - Leg support module. Detailed implementation manners

[0054] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention rather than a limitation thereof. In fact, those skilled in the art will clearly understand that modifications and variations can be made to the present invention without departing from the scope or spirit thereof. For example, features shown or described as part of one embodiment can be used in another embodiment to yield yet another embodiment. Therefore, it is desirable that the present invention includes such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0055] In the description of the present invention, the orientation or positional relationship indicated by terms such as "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. The terms "connected", "connected to", and "disposed" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate component. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0056] Figure 1 is a schematic structural diagram of an exoskeleton for bending and lifting when worn by a user. Refer to Figure 1 , an embodiment of the present invention provides a method for analyzing the assisting effect of an exoskeleton for bending and lifting. The exoskeleton includes a back rod module 1, a waist support module 2, a leg support module 4, and a hip joint assisting module 3. The back rod module 1 is worn on the shoulder and back of the user and fits with the user's back. The waist support module 2 is connected to the back rod module 1 and fixed to the user's waist. The leg support module 4 is worn on the user's thigh and is connected to the waist support module 2 through the hip joint assisting module 3. The hip joint assisting module 3 is used to output and transmit torque to provide assistance when the user bends to lift an object.

[0057] Figure 2 is a flowchart of the method for analyzing the assisting effect of the exoskeleton for bending and lifting provided by the embodiment of the present invention. As Figure 2 shown, the analysis method includes:

[0058] Step S100: When the user is in the same set condition, perform a force analysis on the force received by the user's lumbar spine in three cases: when the user does not wear the exoskeleton, when the user wears the exoskeleton and the exoskeleton is in a non-assisting state, and when the user wears the exoskeleton and the exoskeleton is in an assisting state.

[0059] Step S200: Obtain the values of the first force, the second force, and the third force through the force analysis. The first force is the force on the user's lumbar spine when the user does not wear the exoskeleton. The second force is the force on the user's lumbar spine when the user wears the exoskeleton and the exoskeleton is in a non-assisting state. The third force is the force on the user's lumbar spine when the user wears the exoskeleton and the exoskeleton is in an assisting state.

[0060] Step S300: Judge the magnitudes of the first force and the third force, and the magnitudes of the second force and the third force. If the third force is less than the first force and the third force is less than the second force, the assisting effect of the exoskeleton meets the user's assisting requirement. If the third force is greater than or equal to the first force, or the third force is greater than or equal to the second force, the assisting effect of the exoskeleton cannot meet the user's assisting requirement.

[0061] In this embodiment, this analysis method can accurately judge whether the exoskeleton for bending and lifting effectively assists the user by calculating the forces on the user's lumbar spine in three cases when the user is in the same set condition.

[0062] Specifically, if it is analyzed that the third force is less than the first force and the third force is less than the second force, it indicates that when the user wears the exoskeleton and the exoskeleton provides assistance to the user, the lumbar spine of the user is subjected to the least force. At this time, using the exoskeleton for bending and lifting effectively provides assistance to the user;

[0063] Conversely, if the third force is greater than or equal to the first force, or the third force is greater than or equal to the second force, it indicates that when the user wears the exoskeleton and the exoskeleton provides assistance to the user, the force on the user's lumbar spine is even greater compared to when not wearing the exoskeleton or wearing the exoskeleton but without the exoskeleton providing assistance. Obviously, it does not meet the assistance requirements of using the exoskeleton for bending and lifting and cannot achieve the assistance effect.

[0064] As an optional embodiment, the same setting conditions include: in the above three cases, the weight of the object carried by the user is the same, and the bending angle of the spine when the user bends is the same.

[0065] In this embodiment, by defining that the weight of the object carried by the user is the same and the bending angle of the spine when the user bends is the same in the three cases, the differences among the three cases can be well reduced to whether the exoskeleton is worn or not and whether the exoskeleton provides assistance, effectively controlling the variables and improving the accuracy of the analysis.

[0066] As an optional embodiment, the force analysis includes:

[0067] Taking the center of the user's lumbar spine as the origin and the sagittal plane of the user as the plane to establish a plane rectangular coordinate system;

[0068] Establishing the relationships of force balance and moment balance in the plane rectangular coordinate system to analyze the forces on the origin in the three cases.

[0069] In this embodiment, through the establishment of the plane rectangular coordinate system and combined with the relationships of force balance and moment balance, the force conditions of the user in the three situations can be well calculated, further improving the accuracy of the analysis.

[0070] Figure 3 This is the schematic diagram of the force analysis of the first force in the method for analyzing the assistance effect of the exoskeleton for bending and lifting provided by the embodiment of the present invention. As Figure 3 shown, as an optional embodiment, the specific method for obtaining the first force includes:

[0071] Establishing a plane rectangular coordinate system when the user does not wear the exoskeleton and the user's lumbar spine is in the posture of bending and lifting;

[0072] According to the principle of moment balance, establish formula (1):

[0073] G1·L1 + G2·L2 + G3·L3 - G4·L4 - F1·L5 = 0;

[0074] Based on the principle of force balance in the vertical direction, formula (2) is established:

[0075] G1 + G2 + G3 - G4cosα + F1cosβ = 0;

[0076] Based on the principle of force balance in the horizontal direction, formula (3) is established:

[0077] G4 sinα - F1sinβ = 0;

[0078] Wherein, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the load on the user's shoulders, G4 is the bearing capacity of the user's hip joint, F1 is the first force, L1 is the horizontal distance of the carried object from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, and β is the angle between the first force and the vertical direction;

[0079] According to formula (1), formula (2), and formula (3), the expression for calculating the value of the first force is obtained:

[0080]

[0081] Figure 4 This is the force analysis schematic diagram of the second force in the method for analyzing the assistance effect of the exoskeleton for bending and carrying provided by the embodiment of the present invention. As Figure 4 shown, the acquisition method of the second force includes:

[0082] Establish a plane rectangular coordinate system when the user wears the exoskeleton, the exoskeleton is in a non-assisted state, and the user's lumbar spine is in a bending and carrying posture;

[0083] According to the principle of moment balance, formula (4) is established:

[0084] G1·L1 + G2·L2 + G3·L3 - G4'·L4 - F2·L5 + G5·L6 = 0;

[0085] Based on the principle of force balance in the vertical direction, formula (5) is established:

[0086] G1 + G2 + G3 - G4'cosα + F2cosβ + G5 = 0;

[0087] Based on the principle of force balance in the horizontal direction, formula (6) is established:

[0088] G4'sinα - F2sinβ = 0;

[0089] Among them, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the shoulder load of the user, G4' is the hip joint bearing capacity of the user, G5 is the gravity of the exoskeleton for bending and lifting, F2 is the second force, L1 is the horizontal distance of the object to be carried from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, L6 is the horizontal distance of the center of gravity of the exoskeleton for bending and lifting from the origin, α is the angle between the hip joint bearing capacity and the vertical direction, and β is the angle between the first force and the vertical direction;

[0090] According to formula (4), formula (5), and formula (6), the expression for calculating the value of the second force is obtained:

[0091]

[0092] Figure 5 This is the force analysis schematic diagram of the third force in the method for analyzing the assistance effect of the exoskeleton for bending and lifting provided by the embodiment of the present invention. As Figure 5 shown, the acquisition method of the third force includes:

[0093] Establish a plane rectangular coordinate system when the user wears the exoskeleton, the exoskeleton is in the assistance state, and the user's lumbar spine is in the bending and lifting posture;

[0094] According to the principle of moment balance, establish formula (7):

[0095] G1·L1 + G2·L2 + G3·L3 - G4'·L4 - F3·L5 + G5·L6 - G6·L7 = 0;

[0096] According to the principle of force balance in the vertical direction, establish formula (8):

[0097] G1 + G2 + G3 - G4'cosα + F3 cosβ + G6 cosβ = 0;

[0098] According to the principle of force balance in the horizontal direction, establish formula (9):

[0099] G4'sinα - F3 sinβ - G6 sinβ = 0;

[0100] Among them, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the load on the user's shoulders, G4' is the bearing capacity of the user's hip joint, G5 is the gravity of the exoskeleton for bending and lifting, G6 is the magnitude of the assistance that the exoskeleton for bending and lifting can provide to the user, F3 is the third force, L1 is the horizontal distance of the object to be carried from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, L6 is the horizontal distance of the center of gravity of the exoskeleton for bending and lifting from the origin, L7 is the lever arm of the assistance provided by the exoskeleton for bending and lifting relative to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, β is the angle between the first force and the vertical direction, and the assistance provided by the exoskeleton for the user for bending and lifting is parallel to the direction of the first force;

[0101] According to formula (7), formula (8), and formula (9), the expression for calculating the value of the third force is obtained:

[0102]

[0103] In this embodiment, the first force F1, the second force F2, and the third force F3 can be calculated respectively through formula (1) - formula (9);

[0104] If F3 < F1 and F3 < F2, it means that when the user wears the exoskeleton and the exoskeleton provides assistance to the user, the force on the user's lumbar spine is the smallest, and at this time, the exoskeleton for bending and lifting effectively provides assistance to the user;

[0105] If F3 ≥ F1 or F3 ≥ F2, it means that when the user wears the exoskeleton and the exoskeleton provides assistance to the user, the force on the user's lumbar spine is greater than when not wearing the exoskeleton; or when the user wears the exoskeleton and the exoskeleton provides assistance to the user, the force on the user's lumbar spine is greater than when wearing the exoskeleton but the exoskeleton does not provide assistance. Obviously, it does not meet the assistance requirements of the exoskeleton for bending and lifting for the user and cannot meet the assistance effect.

[0106] Specifically, the assistance efficiency parameters K1 and K2 can also be set to more accurately judge the assistance effect of the exoskeleton for bending and lifting;

[0107] Set

[0108] Among them: K1 is the assistance efficiency of the exoskeleton when the user wears the exoskeleton and the exoskeleton is in the assistance state, compared with when the user does not wear the exoskeleton; when 0 ≤ K1 ≤ 1, the exoskeleton can effectively provide assistance to the user.

[0109] K2 is the assistive efficiency of the exoskeleton when the user wears the exoskeleton and the exoskeleton is in the assistive state, compared with when the user wears the exoskeleton but the exoskeleton is in the non-assistive state; when 0 ≤ K2 ≤ 1, the exoskeleton can effectively assist the user.

[0110] The setting of the assistive efficiency parameter can more effectively calculate and analyze the assistive effect of the exoskeleton for bending and lifting.

[0111] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for analyzing the assisting effect of an exoskeleton for bending and lifting, the exoskeleton including a back rod module, a waist support module, a leg support module, and a hip joint assisting module; the back rod module is worn on the shoulder and back of the user and fits with the user's back; the waist support module is connected to the back rod module and fixed to the user's waist; the leg support module is worn on the user's thigh and is connected to the waist support module through the hip joint assisting module; The hip joint assistance module is used to output and transmit torque to provide assistance when the user bends down to carry an object; it is characterized in that, The analysis method includes: When the user is in the same set condition, the force on the user's lumbar spine is analyzed respectively in three cases: when the user does not wear the exoskeleton, when the user wears the exoskeleton and the exoskeleton is in a non - assisted state, and when the user wears the exoskeleton and the exoskeleton is in an assisted state. The values of the first force, the second force, and the third force are obtained through the force analysis; the first force is the force on the user's lumbar spine when the user does not wear the exoskeleton; the second force is the force on the user's lumbar spine when the user wears the exoskeleton and the exoskeleton is in a non - assisted state; the third force is the force on the user's lumbar spine when the user wears the exoskeleton and the exoskeleton is in an assisted state. Judge the magnitudes of the first force and the third force, and the magnitudes of the second force and the third force; if the third force is less than the first force and the third force is less than the second force, the assistance effect of the exoskeleton meets the user's assistance requirements; if the third force is greater than or equal to the first force or the third force is greater than or equal to the second force, the assistance effect of the exoskeleton cannot meet the user's assistance requirements.

2. The assisting effect analysis method of the exoskeleton for bending and lifting according to claim 1, wherein The same set conditions include: In the three cases, the weight of the object carried by the user is the same, and the bending angle of the spine when the user bends down is the same.

3. The method for analyzing the assistance effect of the exoskeleton for bending and lifting according to claim 2, wherein The force analysis includes: Taking the center of the user's lumbar spine as the origin and the sagittal plane of the user as the plane to establish a plane rectangular coordinate system. In the plane rectangular coordinate system, establish the relationships of force balance and moment balance to analyze the forces on the origin in the three cases.

4. The analysis method for the assistance effect of the exoskeleton for bending and lifting according to claim 3, characterized in that, The specific way to obtain the first force includes: When the user does not wear the exoskeleton and the user's lumbar spine is in the posture of bending down to carry an object, establish the plane rectangular coordinate system. According to the principle of moment balance, establish formula (1): G1·L1 + G2·L2 + G3·L3 - G4·L4 - F1·L5 = 0; According to the principle of force balance in the vertical direction, establish formula (2): G1 + G2 + G3 - G4cosα + F1cosβ = 0; According to the principle of force balance in the horizontal direction, establish formula (3): G4sinα - F1sinβ = 0; Where, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the load on the user's shoulders, G4 is the bearing capacity of the user's hip joint, F1 is the first force, L1 is the horizontal distance from the carried object to the origin, L2 is the horizontal distance from the user's arms to the origin, L3 is the horizontal distance from the user's shoulders to the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, and β is the angle between the first force and the vertical direction. Calculate the expression of the value of the first force according to the formula (1), the formula (2), and the formula (3):

5. The assistance effect analysis method of the exoskeleton for bending and lifting according to claim 3, characterized in that, The method for obtaining the second force includes: Establish the plane rectangular coordinate system when the user wears the exoskeleton, the exoskeleton is in a non-assisted state, and the user's lumbar spine is in a posture of bending and carrying an object; According to the principle of moment balance, establish the formula (4): G1·L1 + G2·L2 + G3·L3 - G4'·L4 - F2·L5 + G5·L6 = 0; According to the principle of force balance in the vertical direction, establish the formula (5): G1 + G2 + G3 - G4'cosα + F2cosβ + G5 = 0; According to the principle of force balance in the horizontal direction, establish the formula (6): G4'sinα - F2sinβ = 0; Wherein, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the load on the user's shoulders, G4′ is the bearing capacity of the user's hip joint, G5 is the gravity of the exoskeleton for bending and carrying, F2 is the second force, L1 is the horizontal distance from the object being carried to the origin, L2 is the horizontal distance from the user's arms to the origin, L3 is the horizontal distance from the user's shoulders to the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, L6 is the horizontal distance from the center of gravity of the exoskeleton for bending and carrying to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, and β is the angle between the first force and the vertical direction; Calculate the expression of the value of the second force according to the formula (4), the formula (5), and the formula (6):

6. The method for analyzing the assistance effect of the exoskeleton for bending and lifting according to claim 3, wherein, The method for obtaining the third force includes: Establish the plane rectangular coordinate system when the user wears the exoskeleton, the exoskeleton is in an assisted state, and the user's lumbar spine is in a posture of bending and carrying an object; According to the principle of moment balance, establish the formula (7): G1·L1 + G2·L2 + G3·L3 - G4'·L4 - F3·L5 + G5·L6 - G6·L7 = 0; According to the principle of force balance in the vertical direction, establish the formula (8): G1 + G2 + G3 - G4'cosα + F3cosβ + G6cosβ = 0; According to the principle of force balance in the horizontal direction, establish the formula (9): G4'sinα - F3sinβ - G6sinβ = 0; Among them, G1 is the gravity of the object carried by the user, G2 is the gravity of the user's arms, G3 is the shoulder load of the user, G4' is the hip joint bearing capacity of the user, G5 is the gravity of the exoskeleton for bending and lifting, G6 is the magnitude of the assistance that the exoskeleton for bending and lifting can provide to the user, F3 is the third force, L1 is the horizontal distance of the object to be carried from the origin, L2 is the horizontal distance of the user's arms from the origin, L3 is the horizontal distance of the user's shoulders from the origin, L4 is the lever arm of the hip joint bearing capacity relative to the origin, L5 is the lever arm of the first force relative to the origin, L6 is the horizontal distance of the center of gravity of the exoskeleton for bending and lifting from the origin, L7 is the lever arm of the assistance provided by the exoskeleton for bending and lifting relative to the origin, α is the angle between the hip joint bearing capacity and the vertical direction, β is the angle between the first force and the vertical direction, and the assistance provided by the exoskeleton for bending and lifting to the user is parallel to the direction of the first force; The expression of the value of the third force is calculated according to the formula (7), the formula (8) and the formula (9):

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