Performance test platform of soft upper limb exoskeleton robot

Abstract

The invention relates to a performance test platform of a soft upper limb exoskeleton robot, which comprises an engineering support, dummy arms, a power system and a sensing system, the dummy arms, the power system and the sensing system are all mounted on the engineering support, the dummy arms comprise a big arm and a small arm, and the big arm and the small arm are mounted on the engineering support. A to-be-tested soft upper limb exoskeleton robot is arranged at an elbow joint between a large arm and a small arm of the dummy arm, an artificial pneumatic muscle is installed on the large arm and connected with a pneumatic driving assembly, and the sensing system comprises an inertial sensor, a pressure sensor and a displacement sensor. The inertial sensor is used for acquiring angle data of an elbow joint, the displacement sensor is connected with a wrist joint at the tail end of a forearm through a steel wire rope, the pressure sensor is connected with the wrist joint at the tail end of the forearm through another steel wire rope, a spring is arranged on the steel wire rope, and the pressure sensor is used for acquiring pressure data after a dummy arm acts. And the displacement sensor is used for acquiring the displacement of the spring.

Description

Technical Field

[0001] The present invention relates to the field of robot testing technology, and in particular to a performance testing platform for a soft upper limb exoskeleton robot. Background Art

[0002] Upper limb exoskeleton robots are mainly divided into two categories: one is a rigid exoskeleton robot designed to enhance the human body's load capacity and improve the arm's motor function, and the other is a soft exoskeleton robot used to assist daily activities. In order to improve portability and reduce R&D costs, the latter is generally made of silicone or fabric materials. Although it has good ductility and human-machine compatibility, it lacks sufficient rigidity and strength. In the performance tests of soft upper limb exoskeleton robots such as joint range of motion tests, speed tests, and load capacity tests, researchers often recruit multiple professional testers to conduct actual tests. On the one hand, it is difficult to exclude the subjective factors of the testers in the test process, and the test results are related to the testers' proficiency in operating the exoskeleton robot. The individual differences of the test data presented are large, which is difficult to support subsequent research; on the other hand, since the drive and control system of the prototype system is not yet complete, ethical and safety issues are prone to arise during the test phase. Summary of the invention

[0003] According to the technical problems raised above, a performance test platform for a soft upper limb exoskeleton robot is provided, which is specially used for the performance test of the joint motion range, motion speed and load capacity of the soft upper limb exoskeleton robot. It uses a rich sensor system and a movable dummy arm model to replace the tester for testing, which not only provides researchers with rich data and effective performance testing methods, but also improves the safety of the test process.

[0004] The technical means adopted by the present invention are as follows:

[0005] A performance test platform for a soft upper limb exoskeleton robot comprises an engineering support, a dummy arm, a power system and a sensor system, wherein the dummy arm, the power system and the sensor system are all mounted on the engineering support, the dummy arm comprises an upper arm and a lower arm, a soft upper limb exoskeleton robot to be tested is arranged at the elbow joint between the upper arm and the lower arm of the dummy arm, an artificial pneumatic muscle is mounted on the upper arm, and the artificial pneumatic muscle is connected to a pneumatic drive assembly, the sensor system comprises an inertial sensor, a pressure sensor and a displacement sensor, the inertial sensor is used to obtain elbow joint angle data, the displacement sensor is connected to a wrist joint at the end of the lower arm through a steel wire rope, the pressure sensor is connected to the wrist joint at the end of the lower arm through another steel wire rope, a spring is arranged on the steel wire rope, the pressure sensor is used to obtain pressure data after the dummy arm moves, and the displacement sensor is used to obtain the displacement of the spring.

[0006] Furthermore, the material of the dummy arm is silicone.

[0007] Furthermore, the engineering support comprises a base, a crossbeam and a vertical rod for connecting the two, and the upper arm of the dummy arm is restrained on the engineering support by a desktop caliper.

[0008] Furthermore, the artificial pneumatic muscle is provided with a clamp, which is installed on the upper arm of the dummy arm through the clamp. The upper arm and the forearm of the dummy arm are both provided with elastic buckles, and the dummy arm is connected to the clamp of the artificial pneumatic muscle by means of a connecting ring between the elastic buckle of the upper arm and the elastic buckle of the forearm.

[0009] Furthermore, the wrist joint of the dummy arm is provided with a wrist elastic buckle, which is respectively connected to the steel wire rope and the elastic pull rope.

[0010] Furthermore, the pressure sensor is a twin-screw pressure sensor, one end of which is fixed to the base of the engineering support through a threaded rod, and the other end is connected to the tension spring through a connecting ring, and the other end of the tension spring is connected to the elastic buckle of the wrist of the dummy arm through a steel wire rope.

[0011] Furthermore, when the dummy arm performs flexion movement and the soft exoskeleton robot does not provide any assistance, the movement of the dummy arm will constantly pull the spring to keep the wire rope in a tensioned state, and the measurement value of the twin-screw dynamometer is F2; ​​the tension of the tension spring is determined by Hooke's law as F1=Kx, where K is the stiffness coefficient and x is the stroke of the spring; the actual lifting force F of the dummy arm can be obtained by summing the data measured by the pressure sensor and the spring tension, that is, F=F1+F2.

[0012] Furthermore, there are two inertial sensors, which are installed on the upper arm and forearm of the dummy arm respectively. The dummy arm body is limited by a desktop caliper to move only in the sagittal plane. The elbow joint angle of the dummy arm is determined by calculating the difference in horizontal inclination angles, which can be used to analyze the joint motion range of the soft upper limb exoskeleton robot. The difference of the above angles per unit time can be used to estimate the elbow joint speed of the dummy arm, and this value can be used to analyze the movement speed of the soft upper limb exoskeleton robot.

[0013] Furthermore, based on the actual lifting force and elbow joint angle of the dummy arm, the joint torque T1 provided by the soft upper limb exoskeleton robot to assist the wearer and the joint torque T2 obtained when the soft upper limb exoskeleton robot provides assistance are analyzed, and the joint torque T=T1-T2 provided by the soft upper limb exoskeleton robot 6 to assist the wearer.

[0014] Furthermore, the artificial pneumatic muscle is connected to an air source, and a high-speed switching valve is provided on the air source pipe. The high-speed switching valve adjusts its airway state through a control device, thereby adjusting the inflation and deflation state and speed of the artificial pneumatic muscle, thereby enabling the dummy arm to achieve flexion and extension movements under the external force of the artificial pneumatic muscle.

[0015] Compared with the prior art, the present invention has the following advantages: The present invention proposes a prototype performance test platform for a soft upper limb exoskeleton robot, which uses a dummy arm as a test object to provide a reliable test platform for the scientific research of soft upper limb exoskeleton robots. This test platform solves the problem that the exoskeleton system has poor reproducibility in the experimental stage and the test data is difficult to support subsequent research. Secondly, since the exoskeleton's drive and control system is still in the development stage, an imperfect exoskeleton system may cause ethical and safety concerns during the test experiment. The present invention ensures the objectivity and consistency of the test process, reduces the deviation caused by different skill levels of operators, and at the same time improves the stability and safety of the experiment, effectively avoiding potential ethical and safety risks. This improvement is of great significance for promoting the development of exoskeleton robot technology and realizing its wide application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic structural diagram of a prototype performance testing platform for a soft upper limb exoskeleton robot according to an embodiment of the present application.

[0018] Figure 2 A partial structural sectional view of a prototype performance test platform of a soft upper limb exoskeleton robot according to an embodiment of the present application.

[0019] Figure 3 Flowchart of the testing process provided for this application.

[0020] Figure 4 A graph of the test process provided for this application.

[0021] Figure 5 This is a schematic diagram of the high-speed switching valve control method of the present application.

[0022] In the figure: 1. Engineering bracket; 2. Desktop caliper; 3. 3D printed part; 4. Inertial sensor; 5. Artificial pneumatic muscle; 6. Soft upper limb exoskeleton robot; 7. Dummy arm; 8. Elastic buckle (including three elastic buckles 8.1, 8.2, and 8.3); 9. Tension spring; 10. Twin-screw tension pressure sensor; 11. Driver; 12. Air compressor; 13. Wire rope; 14. Pull rope displacement sensor. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0027] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0028] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0029] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0030] like Figures 1 to 5As shown, an embodiment of the present invention discloses a performance test platform for a soft upper limb exoskeleton robot, including an engineering support 1, a dummy arm, a power system and a sensor system, wherein the dummy arm, the power system and the sensor system are all installed on the engineering support, the dummy arm includes an upper arm and a lower arm, the soft upper limb exoskeleton robot to be tested is arranged at the elbow joint between the upper arm and the lower arm of the dummy arm, an artificial pneumatic muscle is installed on the upper arm, and the artificial pneumatic muscle is connected to a pneumatic drive assembly, the sensor system includes an inertial sensor 4, a pressure sensor 10 and a displacement sensor 14, the inertial sensor is used to obtain elbow joint angle data, the displacement sensor is connected to the wrist joint at the end of the lower arm through a steel wire rope 13, the pressure sensor is connected to the wrist joint at the end of the lower arm through another steel wire rope, a spring is arranged on the steel wire rope, the pressure sensor is used to obtain pressure data after the dummy arm moves, and the displacement sensor is used to obtain the displacement of the spring. In this embodiment, the dummy arm has an elbow flexion and extension degree of freedom, and its range of motion is 5 degrees to 80 degrees, which is within the actual range of motion of the elbow joint of an adult male upper limb arm, and is used to replace a real tester. The artificial pneumatic muscle is a contractile Mickkben artificial pneumatic muscle. The contractile Mickkben artificial pneumatic muscle 5 is a bionic flexible actuator, and its force generation method is relatively consistent with the force generation method of biological muscles. The contractile Mickkben artificial pneumatic muscle 5 with a length of 260 mm and a diameter of 30 mm has been tested to provide a maximum pulling force of 100.5 N, which is sufficient to achieve the flexion and extension movements of the dummy arm 7.

[0031] Furthermore, the material of the dummy arm is silicone.

[0032] Furthermore, the engineering support includes a base, a crossbeam and a vertical rod for connecting the two, and the upper arm of the dummy arm is restrained on the engineering support by a bench caliper 2. The dummy arm is constrained to complete flexion and extension movements only in the sagittal plane. In order to ensure that the dummy arm 7 will not be unstable due to inertia during the test, its bottom area should be larger than the top area to ensure that the center of mass of the dummy arm 7 is always within the bottom area.

[0033] In order to facilitate the installation of the soft upper limb exoskeleton robot 6, the artificial pneumatic muscle is provided with a clamp, which is installed on the upper arm of the dummy arm through the clamp. The upper arm and the lower arm of the dummy arm are both provided with elastic buckles, and the upper arm elastic buckle and the lower arm elastic buckle are connected to the clamp of the artificial pneumatic muscle by a connecting ring. The restraining force of the elastic band prevents the soft upper limb exoskeleton robot 6 from slipping on the dummy arm 7.

[0034] Furthermore, the wrist joint of the dummy arm is provided with a wrist elastic buckle, which is connected to the steel wire rope and the elastic pull rope respectively. The body of the elastic buckle 8 is composed of a 3D printed part 3 and an elastic band.

[0035] Furthermore, the pressure sensor is a twin-screw pressure sensor, one end of which is fixed to the base of the engineering support through a threaded rod, and the other end is connected to the tension spring through a connecting ring, and the other end of the tension spring is connected to the elastic buckle of the wrist of the dummy arm through a steel wire rope.

[0036] Furthermore, when the dummy arm performs flexion movement and the soft exoskeleton robot does not provide any assistance, the movement of the dummy arm will constantly pull the spring to keep the wire rope in a tensioned state, and the measurement value of the twin-screw dynamometer is F2; ​​the tension of the tension spring is determined by Hooke's law as F1=Kx, where K is the stiffness coefficient and x is the stroke of the spring; the actual lifting force F of the dummy arm can be obtained by summing the data measured by the pressure sensor and the spring tension, that is, F=F1+F2.

[0037] Furthermore, there are two inertial sensors, which are respectively installed on the upper arm and the forearm of the dummy arm. Specifically, they are installed by slotting and embedding the dummy arm 7 made of silicone material. The dummy arm body is limited by a desktop caliper to move only in the sagittal plane. The elbow joint angle of the dummy arm is determined by calculating the difference in horizontal inclination angles, and this angle can be used to analyze the joint motion range of the soft upper limb exoskeleton robot. The difference of the above angles per unit time can be used to estimate the elbow joint speed of the dummy arm, and this value can be used to analyze the movement speed of the soft upper limb exoskeleton robot.

[0038] Furthermore, based on the actual lifting force and elbow joint angle of the dummy arm, the joint torque T1 provided by the soft upper limb exoskeleton robot to assist the wearer and the joint torque T2 obtained when the soft upper limb exoskeleton robot provides assistance are analyzed, and the joint torque T=T1-T2 provided by the soft upper limb exoskeleton robot 6 to assist the wearer.

[0039] Furthermore, the artificial pneumatic muscle is connected to an air source, and a high-speed switch valve is provided on the air source pipe. The high-speed switch valve adjusts its airway state through a control device, thereby adjusting the inflation and deflation state and speed of the artificial pneumatic muscle, thereby enabling the dummy arm to achieve flexion and extension under the external force of the artificial pneumatic muscle. Specifically, the contraction-type Mickkben artificial pneumatic muscle provides sufficient power for the dummy arm to achieve flexion, while the extension is mainly achieved by its own weight; the high-speed switch valve and its controller are used to drive the contraction-type Mickkben artificial pneumatic muscle; and the air compressor provides high-pressure gas for the contraction-type Mickkben pneumatic muscle. The high-pressure gas provided by the air compressor 12 flows into the contraction-type Mickkben artificial pneumatic muscle 5 through a PU hose, and the high-speed switch valve and its driver 11 are used to control the inflation and deflation state and speed of the contraction-type Mickkben artificial pneumatic muscle 5, thereby enabling the dummy arm 7 to achieve flexion and extension under the external force of the contraction-type Mickkben artificial pneumatic muscle 5.

[0040] In this embodiment, the high-speed switch valves used are two MFH2 high-speed switch valves of Festo, which are three-way solenoid valves. In order to control the dummy arm 7 to remain stationary at any position within its range of motion, a special design is provided as follows: Figure 5 The gas circuit is shown. The gas circuit is described as follows: when the MFH2 high-speed switch valve 111 is kept normally open and the high-speed switch valve 112 is kept normally closed, the high-pressure gas provided by the air compressor 12 flows into the contraction type Mickkben artificial pneumatic muscle 5 through the PU hose, and the contraction type Mickkben artificial pneumatic muscle 5 is inflated and contracted; when the MFH2 high-speed switch valve 111 is kept normally closed and the high-speed switch valve 112 is kept normally open, the gas in the contraction type Mickkben artificial pneumatic muscle 5 flows into the outside through the MFH2 high-speed switch valve 111, and the contraction type Mickkben artificial pneumatic muscle 5 is deflated and stretched; when the MFH2 high-speed switch valves 111 and 112 are both kept normally closed, the gas in the contraction type Mickkben artificial pneumatic muscle 5 cannot be discharged to the outside and no high-pressure gas flows in, so the contraction type Mickkben artificial pneumatic muscle 5 maintains the current state and the length remains unchanged.

[0041] Based on the data obtained by the above sensors, the range of assistance provided by the soft upper limb exoskeleton robot to assist the wearer is analyzed and the human-computer interaction model is deduced. All test data can eventually be transmitted to the Arduino microcontroller system or industrial computer and other host computer systems via wired means.

[0042] The test platform can be used to complete the motion range test and speed test. The specific test process is as follows: Figure 3As shown, before the test, first ensure that the soft upper limb exoskeleton robot 6 is firmly installed on the dummy arm 7. Based on the control system, the switch states of the high-speed switch valves 111 and 112 are set to control the periodic inflation and deflation of the contractile Mickkben artificial pneumatic muscle 5, thereby driving the dummy arm to achieve periodic movement. Before starting the program, check whether all lines are unobstructed. Then start the program, collect the data of the inertial sensor, and send it to the host computer in real time through the serial port.

[0043] Ensure that the soft upper limb exoskeleton robot 6 is firmly installed on the dummy arm 7, and check whether all the lines of the test platform are fully connected. To analyze the joint torque T provided by the soft upper limb exoskeleton robot 6 to assist the wearer, obtain the joint torques T1 and T2.

[0044] The control system controls the dummy arm to reciprocate in a predetermined pattern, such as tracking Asin(0.2πk). A is the amplitude, i.e., the range of motion / 2, and k is the discrete time. The travel x of the tension spring 9 and the double-screw tension pressure sensor 10 are collected according to the geometric model to calculate T1.

[0045] The control system controls the high-speed switching valve action to obtain T2.

[0046] Finally, the actual assistance curve of the soft upper limb exoskeleton robot is obtained according to the formula T = T1-T2. Figure 5 shown.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A performance testing platform for a soft upper limb exoskeleton robot, characterized in that: The invention comprises an engineering support, a dummy arm, a power system and a sensor system, wherein the dummy arm, the power system and the sensor system are all installed on the engineering support, the dummy arm comprises an upper arm and a lower arm, a soft upper limb exoskeleton robot to be tested is arranged at the elbow joint between the upper arm and the lower arm of the dummy arm, an artificial pneumatic muscle is installed on the upper arm, and the artificial pneumatic muscle is connected to a pneumatic drive component, the sensor system comprises an inertial sensor, a pressure sensor and a displacement sensor, the inertial sensor is used to obtain elbow joint angle data, the displacement sensor is connected to the wrist joint at the end of the lower arm through a steel wire rope, the pressure sensor is connected to the wrist joint at the end of the lower arm through another steel wire rope, a spring is arranged on the steel wire rope, the pressure sensor is used to obtain pressure data after the dummy arm moves, and the displacement sensor is used to obtain the displacement of the spring.

2. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: The dummy arm is made of silicone.

3. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: The engineering support comprises a base, a crossbeam and a vertical rod for connecting the two, and the upper arm of the dummy arm is restrained on the engineering support by a desktop caliper.

4. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: The artificial pneumatic muscle is provided with a clamp, which is installed on the upper arm of the dummy arm through the clamp. The upper arm and the lower arm of the dummy arm are both provided with elastic buckles. The dummy arm and the clamp of the artificial pneumatic muscle are connected by a connecting ring between the elastic buckle of the upper arm and the elastic buckle of the lower arm.

5. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: The wrist joint of the dummy arm is provided with a wrist elastic buckle, which is respectively connected with the steel wire rope and the elastic pull rope.

6. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: The pressure sensor is a twin-screw pressure sensor, one end of which is fixed to the base of the engineering support through a threaded rod, and the other end is connected to a tension spring through a connecting ring. The other end of the tension spring is connected to the elastic buckle of the wrist of the dummy arm through a steel wire rope.

7. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: When the dummy arm performs flexion movement and the soft exoskeleton robot does not provide any assistance, the movement of the dummy arm will constantly pull the spring to keep the wire rope in a tensioned state, and the measurement value of the twin-screw dynamometer is F2; ​​the tension of the tension spring is determined by Hooke's law to be F1=Kx, K is the stiffness coefficient, and x is the stroke of the spring; the actual lifting force F of the dummy arm can be obtained by summing the data measured by the pressure sensor and the spring tension, that is, F=F1+F2.

8. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: There are two inertial sensors, which are installed on the upper arm and forearm of the dummy arm respectively. The dummy arm body is limited by a desktop caliper to move only in the sagittal plane. The elbow joint angle of the dummy arm is determined by calculating the difference in horizontal inclination angles. This angle can be used to analyze the joint motion range of the soft upper limb exoskeleton robot. The difference of the above angles per unit time can be used to estimate the elbow joint speed of the dummy arm, and this value can be used to analyze the movement speed of the soft upper limb exoskeleton robot.

9. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: Based on the actual lifting force and elbow joint angle of the dummy arm, the joint torque T1 provided by the soft upper limb exoskeleton robot to assist the wearer and the joint torque T2 obtained when the soft upper limb exoskeleton robot provides assistance are analyzed. The joint torque T=T1-T2 provided by the soft upper limb exoskeleton robot 6 to assist the wearer 10. The performance testing platform of the soft upper limb exoskeleton robot according to claim 1, characterized in that: The artificial pneumatic muscle is connected to an air source, and a high-speed switching valve is arranged on the air source pipe. The high-speed switching valve adjusts its airway state through a control device, thereby adjusting the inflation and deflation state and speed of the artificial pneumatic muscle, thereby enabling the dummy arm to achieve flexion and extension movements under the external force of the artificial pneumatic muscle.

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