重庆理工大学学报(自然科学) ›› 2023, Vol. 37 ›› Issue (3): 331-340.

• “第 23届流体动力与机电控制工程国际学术会议”专栏 • 上一篇    下一篇

一种主动式膝关节助力外骨骼的性能评估

赵毅阳,张 豪,李俊邑   

  1. (重庆理工大学 机械工程学院,重庆 400054)
  • 出版日期:2023-04-26 发布日期:2023-04-26
  • 作者简介:赵毅阳,男,硕士研究生,主要从事外骨骼研究,Email:814778746@qq.com;通信作者 袁博,男,博士,副教授,主 要从事外骨骼研究,Email:ramboyuanbo@cqut.edu.cn。

Performance evaluation of an active knee-assisted exoskeleton

  • Online:2023-04-26 Published:2023-04-26

摘要: 提出了一套针对主动式膝关节助力外骨骼性能评估的测试方法。建立电机驱动助 力模型,计算得外骨骼膝关节的理论助力效率。选取 6名健康受试者,在穿戴和不穿戴外骨骼 的条件下,测量人体综合代谢指标和下肢肌肉活动量。人体综合代谢成本测试结果表明:与不 穿外骨骼的实验相比,穿戴外骨骼平均增加了人体耗氧量 3.21%,平均增加了二氧化碳呼出量 127%,计算出单位质量净代谢功率平均提升了 2.80%;下肢肌肉活动测试结果表明与不穿外 骨骼的实验相比,穿戴外骨骼可有效降低股直肌、股外侧肌和股内侧肌的肌肉活动量。设计对 照负重试验,结果证明:由于外骨骼自重无法忽略,增加了受试者的人体综合代谢成本。外骨骼 可有效降低穿戴者下肢肌肉的活动量,基本符合外骨骼膝关节的理论助力效率,由于自重的原 因,使整体的助力效率并不明显

关键词: 外骨骼, 助力, 肌电信号, 代谢成本, 性能评估

Abstract: This paper presents a set of test methods for evaluating the performance of active knee-assisted exoskeleton. A motor-driven assist model is established to calculate the theoretical assist efficiency of exoskeleton knee joints.Six healthy examinees are selected to measure comprehensive metabolic indexes of the human body and lower limb muscle activity under the condition of wearing and not wearing exoskeleton.The results of the comprehensive metabolic cost test of the human body showthat, compared with the experiment without wearing the exoskeleton, examinees wearing the exoskeleton see an increase of oxygen consumption of the human body by 3.21% on average, an increase of exhalation of carbon dioxide by 1.27% on average, and an increase of net metabolic power per unit mass by 2.80% on average. The results of the lower limb muscle activity test show that, compared with the experiment without exoskeleton, wearing exoskeleton can effectively reduce the muscle activity of rectus femoris, vastus lateralis and vastus medialis. A controlled weight-bearing test is designed, and the results prove that the weight of the exoskeleton itself cannot be ignored, which increases the comprehensive metabolic cost of the examinees.The exoskeleton can effectively reduce the activity of the wearer’s lower limb muscles, which is basically in line with the theoretical assisting efficiency of exoskeleton knee joints, and the overall power-assisting efficiency is not obvious due to the weight of the wearer.

中图分类号: 

  • TP242