人因模拟的腰部助力外骨骼机器人舒适性设计

目的 针对腰部助力外骨骼机器人穿戴过程繁琐、身体感受不良、交互体验不佳等舒适性因素,提出一种舒适性分析评估方法和设计提升方案,为外骨骼机器人舒适性设计提供参考.方法 以Jack人因模拟软件为分析工具,模拟腰部助力外骨骼机器人使用过程,从人体模型构建、负载状态模拟、可达区域分析、视野区域分析、静态受力分析等角度,对腰部助力外骨骼机器人舒适性影响因素进行分析.基于一款腰部外骨骼机器人原型机的不舒适因素,对机械匹配尺寸、设备自重分布、绑缚结构设计、交互体验设计等方面提出优化改进方案,并对改进方案进行模拟验证.结论 可以通过人因模拟的方式,对腰部外骨骼机器人进行舒适性提升设计,改进后的腰部助力外骨骼机器人舒适性有显著提升.

Comfortable Experience Design of the Waist Exoskeleton Robot Based on Human Factor Simulation

The work aims to solve the comfort factors of the waist exoskeleton robot, including cumbersome wearing process, poor wearing experience, and poor interactive interface experience. A comfort analysis method and design improvement scheme are proposed to provide reference for the comfort design of exoskeleton robot. Using JACKhuman factor simulation software as an analysis tool to simulate the use process of the waist exoskeleton robot,and the influencing factor of comfort are analyzed from the aspects of the human body model construction, load status simulation, reachable area analysis, view field, and static force analysis. Based on the uncomfortable factors in a prototype of the waist exoskeleton robot, propose optimization schemes such as mechanical dimensions, equipment weight distribution, binding structure design and interactive experience design, and the improvement schemes are simulated and verified. The comfort design of the waist exoskeleton robot can be improved by human factor simulation, and the waist exoskeleton robot comfort after the optimized design is significantly improved.