Testing device and evaluation method for obstacle crossing maneuverability of lower limb exoskeleton

Abstract

The invention relates to a device for testing obstacle crossing maneuverability of a lower limb exoskeleton and an evaluation method, belongs to the technical field of exoskeleton robots, and solves the problem that an exoskeleton obstacle crossing maneuverability testing device and an evaluation system are lacked at present. The device comprises a bottom plate, a sliding rail and sliding block assembly, a middle adapter, a supporting stand column, a modular obstacle plate and a sensor carrying body. According to the evaluation method, the limit obstacle crossing ability, the stable obstacle crossing ability and the complex space passing ability of the lower limb exoskeleton are tested respectively, and then the obstacle crossing maneuverability of the lower limb exoskeleton is comprehensively evaluated. The height, the angle and the spacing of the obstacle plate wall can be adjusted, various different obstacle conditions can be simulated conveniently, and stable support can be provided in a test.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and particularly to a testing device and an evaluation method for the obstacle-crossing maneuverability of lower limb exoskeletons. Background Art

[0002] As a collaborative robot, lower limb exoskeletons have become a hot research and development field at home and abroad in recent years. In typical complex and arduous task operation scenarios such as military support and emergency rescue, improving the obstacle-crossing maneuverability of lower limb exoskeletons has become the key to achieving in-depth application in high-difficulty operation fields. However, at present, there is neither a professional testing device nor a systematic evaluation system for the obstacle-crossing maneuverability of exoskeletons, and the obstacle-crossing maneuverability cannot be accurately quantified and evaluated, which hinders the improvement of the obstacle-crossing maneuverability. Summary of the Invention

[0003] In view of the above analysis, the present invention aims to provide a device and an evaluation method for testing the obstacle-crossing maneuverability of lower limb exoskeletons, so as to solve the problem that there is currently a lack of a testing device and an evaluation system for the obstacle-crossing maneuverability of exoskeletons, and thus the obstacle-crossing maneuverability cannot be accurately quantified and evaluated.

[0004] On the one hand, the present invention provides a device for testing the obstacle-crossing maneuverability of lower limb exoskeletons, including: a bottom plate, a slide rail and slider assembly, an intermediate adapter, a support column, a modular obstacle plate, and a sensor carrier; wherein, the slide rail and slider assembly is fixedly arranged on the bottom plate, the intermediate adapter is movably arranged on the slide rail and slider assembly, the support column is arranged on the intermediate adapter, the modular obstacle plate is arranged on the support column to form an obstacle plate wall, and the height of the obstacle plate wall can be adjusted by adjusting the number of the modular obstacle plates, the distance between the obstacle plate walls can be adjusted by adjusting the position of the intermediate adapter on the slide rail and slider assembly, and the tilt angle of the obstacle plate wall can be adjusted by adjusting the position of the intermediate adapter on the slide rail and slider assembly and the angular position of the support column relative to the intermediate adapter; the sensor carrier is arranged on the support column.

[0005] Further, there are two slide rail and slider assemblies, which are arranged in parallel at intervals; each slide rail and slider assembly includes a slide rail and at least one slider; the intermediate adapter is fixedly connected with the slider.

[0006] Further, the support column includes a mounting plate, side plates, and a top plate; there are two side plates, which are arranged in parallel at intervals, and a card slot for limiting the modular obstacle plate is formed between the two side plates.

[0007] Further, a rotating shaft is provided on the mounting plate, and the rotating shaft is rotatably connected to the intermediate adapter.

[0008] Further, the length of the modular obstacle plate is greater than the distance between the two slide rails.

[0009] On the other hand, the present invention provides an evaluation method for the obstacle-crossing maneuverability of a lower-limb exoskeleton, which is evaluated by using the device for testing the obstacle-crossing maneuverability of a lower-limb exoskeleton described above, and includes the following steps: S1: Test the ultimate obstacle-crossing ability of the lower-limb exoskeleton to obtain the ultimate crossing height and the ultimate crossing width; test the stable obstacle-crossing ability of the lower-limb exoskeleton to obtain the obstacle-crossing height and the average obstacle-crossing speed; test the complex space traversing ability of the lower-limb exoskeleton to obtain the height level, the difficulty level, and the average traversing speed; S2: Score each of the seven numerical values obtained in step S1 individually. Among them, the ultimate crossing height, the ultimate crossing width, the obstacle-crossing height, the obstacle-crossing speed, and the average traversing speed respectively correspond to obtaining a score, and the height level and the difficulty level correspond to obtaining a score; S3: Use the weight analysis method to obtain the system comprehensive score of the obstacle-crossing maneuverability of the lower-limb exoskeleton based on the scores of the six scores obtained in step S2 and conduct an evaluation.

[0010] Further, the test of the ultimate obstacle-crossing ability in S1 specifically includes: S11: Test the ultimate crossing height H of the lower-limb exoskeleton max ; S12: Test the ultimate crossing width L of the lower-limb exoskeleton max .

[0011] Further, the test of the stable obstacle-crossing ability in step S1 is specifically S13: Test the height and speed of being able to continuously cross 5 identical obstacle plate walls, and record the height of the highest obstacle plate wall climbed as the obstacle-crossing height H avg , and the corresponding average speed is the obstacle-crossing speed V avg .

[0012] Further, the test of the complex space traversing ability in step S1 is specifically S14: Test the ability to sequentially cross 5 obstacle plate walls with large height differences, and obtain the height level N, the difficulty level M of the obstacle plate walls climbed, and the average traversing speed V of passing through the five obstacles thro .

[0013] Further, step S2 specifically includes: S21: Scoring for the ultimate obstacle-crossing ability: Through the ultimate crossing height H recorded in the test in step S11 max and the ultimate crossing width L max , use the distribution position percentage method to score according to the position of the single-index parameter in the scoring reference range; S22: Stable obstacle crossing ability scoring: The obstacle crossing height H recorded in the test in step S12 is avg and the average speed V avg , using the distribution position percentage method, scoring is performed based on the position of the single indicator parameter in the scoring reference range; S23: Scoring of complex obstacle crossing ability: The height level N and difficulty level M of the obstacle crossed are recorded in the test, and the difficulty score of the crossing is obtained by table lookup method; the average crossing speed V is used to calculate the difficulty score of the obstacle crossing ability. thro , the travel speed item score is obtained by table lookup method.

[0014] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: (1) The present invention specifically designs a device for testing the obstacle-crossing maneuverability of lower limb exoskeletons, and can provide a test device with adjustable height, spacing, and angle of the obstacle wall to meet different test requirements. It has a simple structure, is easy to assemble, and has an easy-to-operate adjustment method. It can provide an efficient solution for the testing and evaluation of obstacle-crossing maneuverability, and shorten the research and development cycle of lower limb exoskeletons in the field of high-difficulty operations; (2) The method for evaluating the obstacle-crossing capability of a lower limb exoskeleton of the present invention can quantitatively evaluate the obstacle-crossing performance of a lower limb exoskeleton, provide a basis for optimizing the obstacle-crossing maneuverability and design of exoskeletons at various R&D stages, shorten the R&D cycle, and reduce R&D costs.

[0015] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components; Figure 1 A schematic diagram of the three-dimensional structure of a test device for the obstacle-crossing maneuverability of a lower limb exoskeleton; Figure 2 Design explosion diagram for local structure of test device; Figure 3 It is a schematic diagram of the state of the test device in the extreme obstacle crossing ability test item; Figure 4 It is a schematic diagram of the state of the test device in the stable obstacle crossing ability test item; Figure 5Schematic diagram of the state of the test device for the complex obstacle traversing ability test item; Figure 6 Schematic diagram of an evaluation method system for the obstacle crossing maneuverability of a lower limb exoskeleton; Figure 7 Schematic diagram of the extreme obstacle crossing ability test method; Figure 8 Schematic diagram of the stable obstacle crossing ability test method; Figure 9 Schematic diagram of the complex obstacle traversing ability test method.

[0017] Reference numerals: 1 - bottom plate; 2 - slide rail slider assembly; 3 - intermediate adapter; 4 - support column; 5 - modular obstacle plate; 6 - sensor carrier 201 - linear slide rail; 202 - slider; 301 - intermediate adapter; 401 - support column Detailed implementation manners

[0018] The following will specifically describe the preferred embodiments of the present invention with reference to the accompanying drawings. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention, and are not used to limit the scope of the present invention.

[0019] Embodiment 1 A specific embodiment 1 of the present invention, as Figure 1 shown, discloses a device for testing the obstacle crossing maneuverability of a lower limb exoskeleton, mainly including: a bottom plate 1, a slide rail slider assembly 2, an intermediate adapter 3, a support column 4, a modular obstacle plate 5, and a sensor carrier 6. Among them, the slide rail slider assembly 2 is fixedly arranged on the bottom plate 1, the intermediate adapter 3 is movably arranged on the slide rail slider assembly 2, the support column 4 is rotatably arranged on the intermediate adapter 3, the modular obstacle plate 5 is arranged on the support column 4, and the number of modular obstacle plates 5 can be adjusted according to the test needs; the sensor carrier 6 is arranged on the support column 4 for arranging sensors.

[0020] According to the technical solution of the present invention, the height, direction, and spacing of the obstacle plate wall can be adjusted arbitrarily according to the test needs, and functions such as speed measurement can also be realized.

[0021] Specifically, two slide rail slider assemblies are provided and arranged in parallel at intervals. Refer to Figure 2 , each slide rail slider assembly includes a slide rail and at least one slider, and the slider can reciprocate on the slide rail. The number of sliders of the two slide rail slider assemblies is equal. The slide rail and the slider can adopt the conventional structures in the prior art. According to the test needs, the slide rail can be a linear slide rail, an arc slide rail, or an S-shaped slide rail.

[0022] The structure of the intermediate adapter is asFigure 2 As shown, it is a rectangular block structure. A groove is provided at the bottom of the intermediate adapter for the protrusion on the top of the slider to be inserted. Multiple fixing holes are also provided on the intermediate adapter and are fixedly connected to the slider by screws. A through hole is also provided on the intermediate adapter for a pin shaft or a rotating shaft to pass through.

[0023] The support column 4 is used to install and fix the modular obstacle board, including a mounting plate, side plates and a top plate. There are two side plates, which are arranged in parallel at intervals, and a card slot is formed between the two side plates for the modular obstacle board to pass through. A pin hole is provided on the mounting plate, and the position of the pin hole corresponds to the position of the through hole on the intermediate adapter. A rotating shaft is provided in the pin hole, and the rotating shaft is inserted into the through hole on the intermediate adapter to realize rotatable connection with the intermediate adapter.

[0024] The modular obstacle board is a standard part, and a series of modular obstacle boards of multiple different sizes and models can be made for backup. The modular obstacle board is preferably made of wood, steel or plastic. The number of modular obstacle boards can be adjusted according to the test requirements. The size of each model of modular obstacle board is the same. During the test, the modular obstacle board can be clamped into the card slot between the two side plates of the support column 4. By adjusting the number and model of the modular obstacle boards, the height of the obstacle board wall can be adjusted.

[0025] The length of the modular obstacle board is greater than the distance between the two slide rails, so that both ends of the modular obstacle board can be clamped into the card slot between the two side plates of the support column 4. When the length direction of the modular obstacle board is perpendicular to the slide rail, both ends of the modular obstacle board protrude outwards from both sides of the support column 4; when the length direction of the modular obstacle board is inclined to the maximum angle relative to the slide rail, both ends of the modular obstacle board can still be stably clamped in the card slot of the support column 4.

[0026] In some preferred embodiments, the modular obstacle board can be a length-adjustable plate, for example, it can be split or truss type. In this solution, both ends of the modular obstacle board are set to a structure adapted to the card slot of the support column 4, and after being clamped in the card slot, it cannot move horizontally relative to the card slot. When it is necessary to make the length direction of the modular obstacle board inclined relative to the slide rail, loosen the fixed connection between the modular obstacle board and the intermediate adapter, move the slider on one side of the slide rail. At this time, the two support columns 4 rotate automatically under the drive of the modular obstacle board, so that the card slots of the two support columns 4 always remain opposite, and at the same time the length of the modular obstacle board will adaptively change to a suitable length. After the adjustment is completed, tighten the screw between the modular obstacle board and the intermediate adapter to make the two fixedly connected.

[0027] Furthermore, the inclination angles of adjacent modular obstacle boards relative to the slide rail are different. In this way, more test requirements can be met.

[0028] The assembly and specific adjustment methods of the test device are as follows: Adjustment method for the distance between the obstacle plate walls: The translation function of the obstacle plate walls is realized by the slider 202 moving along the translation axis X of the slide rail 201. The specific assembly sequence is to fix the slider 202 on the slide rail 201 with screws, then fixedly connect the intermediate adapter 301 with the slider 202, then fixedly connect the support column 4 with the intermediate adapter 301, and then fix the slider by limiting it at the counterbore position of the slide rail with bolts. Starting from the first slider, measure the distance, and successively determine the positions of the second slider, the third slider, the fourth slider... and the nth slider according to the distance between the obstacle plate walls. Perform the same operations on the opposite side slider, the intermediate piece, and the support column 4, and the adjustment of the distance between the obstacle plate walls can be achieved, as Figure 3 , Figure 4 shown.

[0029] Adjustment method for the inclination degree of the obstacle plate walls: The inclination function of the obstacle plate walls is realized by the rotation of the support column 4 relative to the intermediate adapter 301. The specific assembly sequence is that the support column 4 rotates clockwise or counterclockwise by a certain angle relative to the intermediate adapter 3 according to the test plan, and then fixedly connect the support column 4 and the intermediate adapter 3 with screws or bolts. After the support column 4 on the opposite side performs a reverse rotation operation, it is then fixedly connected to the intermediate adapter 3. According to the inclination angle of the obstacle plate walls in the test plan, successively determine the rotation angles of the second support column 4, the third support column 4, the fourth support column 4... and the nth support column 4. The support column 4 on the opposite side first adjusts its position on the slide rail and then performs a reverse rotation operation; after completion, insert the modular obstacle plate, and the obstacle plate wall with the target inclination angle can be obtained.

[0030] Adjustment method for the height of the obstacle plate walls: The modular obstacle plates and the support column 4 form the obstacle plate walls in a plug-in manner. The height of the obstacle plate walls is increased by vertically splicing the number of modular obstacle plates 5. The height of the obstacle plate walls shows a flexible combination with the number of modular obstacle plates and the width of the obstacle plates. The specific assembly sequence is to insert the first modular obstacle plate into the card slots of the two support columns, and successively align the lower edge of the second modular obstacle plate with the upper edge of the first modular obstacle plate and stack them up until the target height of the obstacle plate wall is reached. Similarly, perform the wall splicing of the second, third, fourth... and the nth obstacle plate walls in turn. In this way, the obstacle plate wall with the expected height can be obtained, as Figure 5 shown.

[0031] Loading method for the speed measurement function: It is loaded into the sensor carrier 6 through the sensor. Usually, time sensors are carried by the four support columns at the outer edge of the device, and speed sensors are carried by the remaining support columns in the middle.

[0032] According to the technical solution of Embodiment 1 of the present invention, by adjusting the rotation angle of the support column 4, the distance between the sliders, the number of modular obstacle plates 5, and the operation of mounting a speed measuring sensor, functions such as the direction adjustability of the obstacle plate wall, the spacing adjustability of the obstacle plate wall, the height adjustability of the obstacle plate wall, and speed measurement can be achieved.

[0033] Embodiment 2 Another specific embodiment of the present invention is as Figures 6 - 9 shown, and discloses an evaluation method for the obstacle crossing maneuverability of a lower limb exoskeleton. The evaluation is carried out using the device for testing the obstacle crossing maneuverability of the lower limb exoskeleton in Embodiment 1, and is carried out around the ultimate obstacle crossing ability, the stable obstacle crossing ability, and the complex space traversing ability. The specific test method includes the following steps: S1: Test the ultimate obstacle crossing ability of the lower limb exoskeleton, obtain the ultimate climbing height and the ultimate crossing width; test the stable obstacle crossing ability of the lower limb exoskeleton, obtain the obstacle crossing height and the average obstacle crossing speed; test the complex space traversing ability of the lower limb exoskeleton, obtain the height level, the difficulty level, and the average traversing speed. S2: Score individually according to the seven numerical values obtained in step S1. Among them, the ultimate climbing height, the ultimate crossing width, the obstacle crossing height, the obstacle crossing speed, and the average traversing speed respectively correspond to obtaining a score, and the height level and the difficulty level correspond to obtaining a score. S3: Adopt the weight analysis method to obtain the system comprehensive score of the obstacle crossing maneuverability of the lower limb exoskeleton according to the scores of the six scores obtained in step S2 and conduct an evaluation.

[0034] Among them, in step S1, the ultimate obstacle crossing ability is mainly reflected in the longitudinal explosive ability to climb over vertical obstacles and the lateral explosive ability to cross horizontal obstacles, and is described by two indicators, the ultimate climbing height and the ultimate crossing width, that is, the maximum longitudinal climbing height and the maximum lateral crossing width. Therefore, the test of the ultimate obstacle crossing ability in step S1 specifically includes: S11: Test the ultimate climbing height H of the lower limb exoskeleton max ; S12: Test the ultimate crossing width L of the lower limb exoskeleton max .

[0035] Among them, refer to Figure 3 (a) and Figure 7, Step S11 is specifically as follows: The test plan for the maximum obstacle-crossing height of the lower limb exoskeleton is based on 0.2 m, increasing by 0.2 m for each level. When the human-machine ability reaches the upper limit and cannot pass, remove the last modular obstacle board, and select to increase by 0.1 m for each level for testing. When the human-machine ability reaches the upper limit and cannot pass, remove the last 0.1 m modular obstacle board, and select a step-down test with an increase of 0.05 m for each level until the human-machine ability reaches the upper limit and cannot pass. Record the height of the highest obstacle board wall that can be climbed over, which is the maximum obstacle-crossing height H of the lower limb exoskeleton. max 。

[0036] See Figure 3 (b) and Figure 7 , Step S12 is specifically as follows: The test plan for the maximum obstacle-crossing width of the lower limb exoskeleton is based on 0.2 m, increasing by 0.2 m for each level. When the human-machine ability reaches the upper limit and cannot pass, increase the obstacle width by 0.1 m and retest. When it still cannot pass, continue to increase by 0.05 m for testing until it cannot pass. Record the width of the widest obstacle that can be crossed, which is the maximum obstacle-crossing width L of the lower limb exoskeleton. max 。

[0037] In Step S1, the stable obstacle-crossing ability is mainly reflected in the ability to stably and rapidly cross obstacle board walls of the same height. It is stipulated that the distance between the first and the fifth obstacle board walls is a constant 1.0 m. In this Embodiment 2, the description is made by continuously crossing 5 identical obstacles in terms of height and speed, that is, the obstacle-crossing height and the obstacle-crossing speed.

[0038] As Figure 4 、 Figure 8 shown, Step S1 also includes S13: Testing the height and speed of continuously crossing 5 identical obstacle board walls; specifically, the test plan is based on 0.2 m in height, increasing by 0.2 m for each level. When the human-machine ability reaches the upper limit and cannot pass, increase the obstacle height by 0.1 m for testing. When it still cannot pass, continue to increase by 0.05 m for testing until it cannot pass. Record the height of the highest obstacle board wall climbed over as the obstacle-crossing height H avg and the corresponding average speed as the obstacle-crossing speed V avg 。

[0039] In Step S1, the complex obstacle traversing ability is mainly manifested as the ability to sequentially pass through 5 obstacle board walls with large height differences. The greater the sum of the heights of the obstacle board walls, the higher the traversing level and ability, and the greater the height difference between the obstacle board walls, the greater the crossing difficulty. Define the sum of the heights of the obstacle board walls as the height level of the obstacle board walls. For example, the 5-level obstacle board wall level represents that the total height of 5 obstacle board walls is 5 m. The height difference between 5 obstacle board walls in each level is defined as the difficulty level. The definition model of the height level - difficulty level is as follows. Among them, the complex space obstacle height model matrix is as follows: ; ; ; In the above model, N represents the sum of the height data of 5 barrier walls, and the value of this index is numerically equal to the obstacle height level. H represents the height data set of different barrier walls... h1 represents the height of the first barrier wall of the complex obstacle, h2 represents the height of the second barrier wall of the complex obstacle, h3 represents the height of the third barrier wall of the complex obstacle, h4 represents the height of the fourth barrier wall of the complex obstacle, and h5 represents the height of the fifth barrier wall of the complex obstacle. As Figure 5 、 Figure 9 shown, in step S1, it also includes S14: testing the ability to successively cross 5 barrier walls with large height differences, obtaining the height level N, difficulty level M of the barrier walls climbed over, and the speeds V1-V 5， for passing through the five obstacles respectively, and calculating the average traversing speed V thro . Specifically, the test plan is based on the highest difficulty level of the 1st height level. Each time a successful crossing is made, the height level increases by 1 level and the difficulty level increases by 2 levels; when the climbing ability reaches the upper limit of the human-machine, the height level of the barrier wall remains unchanged and the difficulty level decreases by 1 level for testing until it can pass the test. Record the height level N, difficulty level M of the barrier walls climbed over, the speeds V1-V5 for passing through the five obstacles respectively, and the average traversing speed V thro .

[0040] See Figure 6 , in step S2, the test results of the three abilities in step S1 are scored item by item. Among them: the individual scores of the extreme obstacle-crossing ability and the stable obstacle-crossing ability (i.e., the individual scores of the extreme climbing height, extreme crossing width, obstacle-crossing height, and obstacle-crossing speed) adopt the position percentage method, and the individual score of the complex obstacle-crossing traversing ability (i.e., the individual scores of the traversing difficulty and traversing speed) adopts the look-up table method. The specific scoring method is as follows: S21: Scoring of the extreme obstacle-crossing ability: The extreme climbing height H max recorded through the test max, using the distribution position percentage method, scoring is performed according to the position of the single indicator parameter in the scoring reference range, that is, comparing the single extreme obstacle ability indicator parameter with the indicator parameter of the market product to obtain the performance score of the existing product. The recommended scoring reference range for the climbing height is (0m -2.28m), and the recommended scoring reference range for the crossing width is (0m -2.83m). The scoring reference range in the position percentage system can be dynamically updated or adjusted based on the product parameters in the current market, but the scoring range for similar collaborative robots should ensure the consistency of the parameter range. The climbing limit height and crossing limit width are high-quality indicators. The calculation formula for the single indicator score is as follows, where d x Represents the individual scores of various indicators (maximum height, maximum width): ; Among them, PERCENTRANK is the distribution position percentile function.

[0041] S22: Stable obstacle crossing ability scoring: record the height H of the obstacle wall crossed through the test avg and the average speed V avg , using the distribution position percentage method, scoring is performed according to the position of the single indicator parameter in the scoring reference range, that is, comparing the stable obstacle crossing ability indicator parameter with the indicator parameter of the market product to obtain the performance score of the existing product. The recommended scoring reference range for obstacle height is (0.15m-1.067m), and the average speed scoring reference range is (0.56m / s-7.56m / s). The scoring reference range in the position percentage system can be dynamically updated or adjusted based on the product parameters in the current market, but the scoring range for similar collaborative robots should ensure the consistency of the parameter range. The maximum obstacle crossing height and the average obstacle crossing speed are high-quality indicators, and the single indicator score is the percentage obtained by the PERCENTRANK.EXC function multiplied by 100. The formula for calculating the single indicator score is as follows, where d x Represents the individual scores of various indicators (obstacle crossing height, obstacle crossing speed): ; S23: Scoring of complex obstacle crossing ability: Record the height level N and difficulty level M of the obstacle crossed in the test, and check the difficulty score of the crossing item by comprehensive reference table 1 (i.e., the crossing difficulty score table); the average crossing speed V in the test record thro , and use Table 2 (i.e., the travel speed score table) to query the travel speed score. Tables 1 and 2 can be adjusted according to technology development and product parameter iteration: Table 1: Difficulty score table for complex obstacle crossing ; Table 2: Differential Table of Crossing Speed for Complex Obstacles ; Step S3 specifically includes: S31: Assigning weights to individual indicators; S32: Calculating the total score of obstacle-crossing maneuverability according to the weights of individual indicators in Step S31 and the six individual scores obtained in Step S2.

[0042] In Step S31, refer to the mature weight analysis method in the prior art to assign weights to the six scores obtained in Step S2.

[0043] In the order relation analysis, the data index set of obstacle-crossing maneuverability is composed of an order relation according to the importance weights of the indicators, that is: ; Among them, represents the i-th indicator after forming the order relation, is the indicator with the lowest importance weight (i.e., the m-th indicator), and at the same time, the evaluation indicator and The ratio of the importance between is (i.e., ), The assignment reference is shown in Table 3. The weight coefficients corresponding to the sorted indicators are calculated by the following formula: ; ; Among them, represents the weight of the indicator with the lowest importance (i.e., the m-th indicator). According to and The weights of each indicator are calculated separately from m to 2 according to the recurrence relationship. In the formula, and The ratio of the importance between The assignment reference is shown in Table 3.

[0044] Table 3: Order Relation Assignment Reference Table ; In S32, the product of the individual score of each indicator and the weight of the indicator is the final individual score, and the total score of obstacle-crossing maneuverability is equal to the sum of each individual score. That is, the formula for calculating the total score of obstacle-crossing maneuverability is as follows: ; D 越障性能总分 represents the score of the lower limb exoskeleton's obstacle-crossing maneuverability, and d x represents the score of each indicator's performance within the scoring reference range (i.e., the score obtained in Step S2), Indicates the weight coefficients corresponding to each indicator. It should be noted that each weight calculated in the order relation analysis is the weight after forming the order relation according to the importance weights of the indicators. Therefore, the actual weights of each indicator need to be inversely solved one by one according to the sorting relationship. For example, the third indicator After sorting, it is in the second position , then the weight coefficient of this indicator is

[0045] According to D 越障性能总分 Evaluate the obstacle-crossing maneuverability of the lower limb exoskeleton. The obstacle-crossing maneuverability is divided into five levels. Less than 40 is level one; between 40 - 55 is level two; between 55 - 70 is level three; between 70 - 85 is level four; between 85 - 100 is level five.

[0046] The method for testing and evaluating the obstacle-crossing maneuverability of the lower limb exoskeleton in this embodiment is used to quantitatively evaluate the performance of the lower limb exoskeleton during the product R & D cycle and the performance evaluation stage, promote the improvement of the obstacle-crossing maneuverability of the lower limb exoskeleton, shorten the R & D cycle and reduce the R & D cost at the same time.

[0047] All the data provided in this embodiment are only for illustrative purposes and do not limit this method. The following uses two sets of actual test and evaluation data to further illustrate Embodiment 2 of the present invention.

[0048] Example 1 The model parameters of this lower limb exoskeleton are Carbon01.

[0049] In step S1, the obtained limit height is: 1.45 m, the limit width is: 1.1 m, the obstacle-crossing height is: 1.0 m, the obstacle-crossing speed is: 6 m / s, the traversal difficulty is: height level 10 and difficulty level 16, and the traversal speed is: 2.0 m / s.

[0050] In step S2, the calculated scores are: the limit height is: 63.6, the limit width is: 38.87, the obstacle-crossing height is: 93.72, the obstacle-crossing speed is: 79.37, the traversal difficulty is: 97, and the traversal speed is: 60.

[0051] In step S3, according to the custom order relation, calculate the weights of each indicator. The limit height is: 0.2638, the limit width is: 0.2198, the obstacle-crossing height is: 0.2198, the obstacle-crossing speed is: 0.1221, the traversal difficulty is: 0.0872, and the traversal speed is: 0.0872.

[0052] The total score of the obstacle-crossing maneuverability of the Carbon01 lower limb exoskeleton finally obtained is: 69.30 points, and the obstacle-crossing maneuverability level of the lower limb exoskeleton is level three.

[0053] Example 2 The model parameters of this lower limb exoskeleton are Auto02; In step S1, the obtained limit height is: 1.70 m, the limit width is: 1.5 m, the obstacle crossing height is: 1.0 m, the obstacle crossing speed is: 6.5 m / s, the traversal difficulty is: height level 10 and difficulty level 18, and the traversal speed is: 1.5 m / s.

[0054] In step S2, the calculated scores are: the limit height is: 74.56, the limit width is: 53.00, the obstacle crossing height is: 93.72, the obstacle crossing speed is: 85.98, the traversal difficulty is: 99, and the traversal speed is: 40.

[0055] In step S3, according to the custom order relation, the weights of each index are calculated. The limit height is: 0.2638, the limit width is: 0.2198, the obstacle crossing height is: 0.2198, the obstacle crossing speed is: 0.1221, the traversal difficulty is: 0.0872, and the traversal speed is: 0.0872.

[0056] The total score of the obstacle crossing maneuverability of the Auto02 lower limb exoskeleton finally obtained is: 74.54 points, and the obstacle crossing maneuverability level of the lower limb exoskeleton is level four.

[0057] As mentioned above, it is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A device for testing the obstacle-crossing maneuverability of a lower-limb exoskeleton, characterized in that, Including: A bottom plate, a slide rail and slider assembly, an intermediate adapter, a support column, modular obstacle plates, and a sensor carrier; wherein, the slide rail and slider assembly is fixedly arranged on the bottom plate, the intermediate adapter is movably arranged on the slide rail and slider assembly, the support column is arranged on the intermediate adapter, the modular obstacle plates are arranged on the support column to form an obstacle plate wall, and the height of the obstacle plate wall can be adjusted by adjusting the number of the modular obstacle plates, the distance between the obstacle plate walls can be adjusted by adjusting the position of the intermediate adapter on the slide rail and slider assembly, and the tilt angle of the obstacle plate wall can be adjusted by adjusting the position of the intermediate adapter on the slide rail and slider assembly and the angular position of the support column relative to the intermediate adapter; the sensor carrier is arranged on the support column.

2. The device for testing the obstacle-crossing maneuverability of a lower limb exoskeleton according to claim 1, wherein There are two slide rail and slider assemblies, which are arranged in parallel at intervals; each slide rail and slider assembly includes a slide rail and at least one slider; the intermediate adapter is fixedly connected to the slider.

3. The device for testing the obstacle-crossing maneuverability of a lower-limb exoskeleton according to claim 2, wherein, The support column includes a mounting plate, side plates, and a top plate; there are two side plates, which are arranged in parallel at intervals, and a card slot for limiting the modular obstacle plates is formed between the two side plates.

4. The device for testing the obstacle-crossing maneuverability of the lower-limb exoskeleton according to claim 3, wherein, A rotating shaft is arranged on the mounting plate, and the rotating shaft is rotatably connected to the intermediate adapter.

5. The device for testing the obstacle-crossing maneuverability of a lower limb exoskeleton according to claim 4, wherein The length of the modular obstacle plate is greater than the distance between the two slide rails.

6. A method for evaluating the obstacle-crossing maneuverability of a lower limb exoskeleton, which is evaluated by using the device for testing the obstacle-crossing maneuverability of a lower limb exoskeleton according to any one of claims 1-5, characterized in that, Including the following steps: S1: Test the ultimate obstacle-crossing ability of the lower limb exoskeleton, obtain the ultimate crossing height and the ultimate crossing width; test the stable obstacle-crossing ability of the lower limb exoskeleton, obtain the obstacle-crossing height and the average obstacle-crossing speed; test the complex space traversing ability of the lower limb exoskeleton, obtain the height level, the difficulty level, and the average traversing speed. S2: Score each of the seven numerical values obtained in step S1 individually. Among them, the ultimate crossing height, the ultimate crossing width, the obstacle-crossing height, the obstacle-crossing speed, and the average traversing speed respectively correspond to obtaining a score, and the height level and the difficulty level correspond to obtaining a score. S3: Adopt the weight analysis method to obtain the system comprehensive score of the obstacle-crossing maneuverability of the lower limb exoskeleton based on the scores of the six scores obtained in step S2 and conduct an evaluation.

7. The evaluation method for the obstacle-crossing maneuverability of the lower-limb exoskeleton according to claim 6, characterized in that, The test of the obstacle-crossing ability of the limit in S1 specifically includes: S11: Testing the lower-limb exoskeleton to cross the limit height H max ; S12: Testing the lower-limb exoskeleton to cross the limit width L max .

8. The evaluation method for the obstacle-crossing maneuverability of the lower-limb exoskeleton according to claim 7, wherein The specific test of stable obstacle crossing ability in step S1 is S13: Test the height and speed of continuously crossing 5 identical obstacle panel walls, and record the height of the highest obstacle panel wall climbed as the obstacle crossing height H avg , and the corresponding average speed is the obstacle crossing speed V avg .

9. The evaluation method for the obstacle-crossing maneuverability of the lower-limb exoskeleton according to claim 8, wherein, The test of the complex space traversal ability in step S1 is specifically S14: Test the ability to sequentially traverse five obstacle panel walls with large height differences, and obtain the height level N, difficulty level M of the traversed obstacle panel walls, and the average traversal speed V of passing through the five obstacles thro .

10. The evaluation method for the obstacle-crossing maneuverability of the lower limb exoskeleton according to claim 9, wherein, Step S2 specifically includes: S21: Extreme obstacle-crossing ability scoring: Based on the maximum climbing height H recorded in the test in step S11 max and the maximum spanning width L max , the distribution position percentage method is adopted to score according to the position of the single-index parameter in the scoring reference range; S22: Scoring for stable obstacle-crossing ability: Based on the obstacle-crossing height H recorded in the test in step S12 avg and the average obstacle-crossing speed V avg , using the distribution position percentage method, score according to the position of the single-index parameter in the scoring reference range; S23: Scoring of complex obstacle crossing ability: The height level N and difficulty level M of the obstacle crossed are recorded in the test, and the difficulty score of the crossing is obtained by table lookup method; the average crossing speed V is used to calculate the difficulty score of the obstacle crossing ability. thro , the travel speed item score is obtained by table lookup method.

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