Synthesis and Optimization Method of Exoskeleton Mechanism Based on Human-machine Fusion

doi:10.3901/JME.2022.11.037

Abstract

Abstract: In view of the lack of systematic process and specific methods in the current exoskeleton mechanism design, and less consideration of human-machine fusion, a configuration synthesis and optimization method of exoskeleton mechanism based on human-machine fusion is proposed. In terms of configuration synthesis, according to the human-machine fusion requirements of wearability, build musculoskeletal configuration (MC), and establish human-machine configuration (HMC) by using the "minimum closed chain unit combination method". According to the requirements of human-machine fusion of motion flexibility, the "two-link element insertion method" is used to improve the degree of freedom of HMC and carry out configuration transformation. Combined with adjacency matrix and "loop forward and inverse labeling method", the mathematical model of configuration synthesis is established. In terms of configuration optimization, according to the requirements of man-machine motion consistency, the configuration meeting the requirements of the degree of freedom is optimized by using reuse rod and reuse factor index. Taking the index finger as an example, the index finger HMC is established and 15 topological configurations are synthesized. The configuration with 3 degrees of freedom and 4 reuse factors is optimized. The configuration meets the requirements of human-machine fusion and verifies the effectiveness of the method.

Key words: human-machine fusion, wearable exoskeleton, configuration synthesis, human-machine configuration, reusing factor

CLC Number:

TH112

ZHANG Lijie, YU Jinxu, YAN Jianhua, DU Yihao, XIE Ping, LI Yongquan. Synthesis and Optimization Method of Exoskeleton Mechanism Based on Human-machine Fusion[J]. Journal of Mechanical Engineering, 2022, 58(11): 37-45.

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