一种基于运动状态机的搬运助力外骨骼OA

To reduce muscle injuries for workers engaged in manual handling tasks,a lasso-driven handling assistance exoskeleton is proposed,addressing the limitations of low flexibility and poor human-robot coupling in existing exoskeletons.The exoskeleton employs motor-driven lasso reels to enable flexible deployment/retraction of the lasso,providing lifting assistance.Firstly,the motion intention of wearers is recognized based on multi-sensor data fusion.And a hierarchical control strategy is adopted for the exoskeleton,with finite motion state machine and hybrid force-position control serving as the upper-and lower-level control of the control system.Secondly,performance testing and assistance evaluation are conducted on the exoskeleton.Experimental results demonstrate 11.7％reduction in biceps brachii muscle activation level and 37.3％reduction in lumbar erector spinae activation level during the 10 kg load lifting/carrying.During the 10 kg load transportation at a walking speed of 0.8 m/s,biceps brachii muscle activation level is decreased by 31.9％.These results validate the effective assistance capability of the exoskeleton for both arm and lumbar regions.