Design and Performance Evaluation of Active-passive Integrated Exoskeleton Robot with Upper and Lower Limbs

Abstract

Aiming at the problem that the upper limb exoskeleton robot has heavy load on the user's waist and back, an upper and lower limb integrated power exoskeleton robot with active and passive combination is designed, and the passive lower limb exoskeleton is used to bear part of the load. Based on the analysis of the application scenarios of the powered exoskeleton and the structural characteristics of the human body, the mechanical structure model of the exoskeleton robot is established, and the kinematics simulation analysis is completed to verify the rationality of the model. In order to solve the efficiency evaluation of exoskeleton robot, a fuzzy comprehensive evaluation model is proposed. The efficiency evaluation method of exoskeleton robot is introduced in detail, and the evaluation result is excellent. The prototype of the exoskeleton robot is developed, the overall control system is built, and the test experiments of power assist performance and load-bearing performance are carried out. The experimental results show that the designed upper and lower limb integrated power exoskeleton robot can bear a load of 20 kg and has a certain power assist effect for wearers. The proposed fuzzy comprehensive evaluation model provides direction and theoretical basis for the optimal design of exoskeleton robot.