The development of upper limb exoskeleton robots is an important stage in the high-quality development of robotics technology. The existing upper limb exoskeleton robots have a single function and complex structure, and their wearability needs to be improved. This paper designs a convenient upper limb exoskeleton robot based on spring energy storage, analyzes the degree of freedom of muscle joints when the human arm moves from the perspective of human bionics, solves the convenience and comfort of users' wearing from the mechanical structure, improves man-machine cooperation, analyzes the calculation principle of joint torque when the human arm moves, optimizes the spring energy storage module, and innovatively adopts the extension spring scheme, Increasing the interchangeability of parts is conducive to the convenient replacement of mechanical structures, and the combination of forearm assistance and boom assistance is used to effectively improve the assistance effect. The effectiveness of the prototype movement is verified by calculating the assistance ratio.
The stooping and handling exoskeleton robot integrating multi-field technologies such as mechatronics, human-computer interaction, gait analysis and intelligence is an important development direction in the field of robot research and development in recent years. The boosting efficiency is the most critical evaluation index in the overall performance of the exoskeleton robot. In this paper, by analyzing the changes of the human lumbar spine force in the state of normal bending and carrying under the state of natural motion cycle, the state of wearing the exoskeleton without assistance, and the state of wearing exoskeleton assistance, this paper establishes a bending and carrying model, completes the force analysis, and deduces the power-assisting efficiency. Compare the calculation formula, and design a wearable stooping exoskeleton robot based on this, and conduct EMG experiment data in three states to collect the changes of the user's biomechanical signals. The percentage of EMG signal amplitude of the erector spinae muscles of the waist in the state decreased by 39.3%, verifying its beneficial effect on users.
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