Research on Human Machine Interaction of Exoskeleton

Abstract

In the exoskeleton system, the interaction force between the exoskeleton and the human body is one of the important factors determining the efficiency of exoskeleton assistance, and the constraints generated by the positional deviation between the exoskeleton and the human body can affect the human-machine interaction force. Therefore, this article first focuses on the mechanical characteristics of the relative position deviation of the external skeleton binding point, and obtains the constraint characteristics in different directions through experiments. Secondly, different exoskeleton mechanical models are established in the support phase and swing phase, and the magnitude of human-machine interaction forces is calculated based on the constraints generated by weight bearing gravity, human-machine deviation, and the inertia force generated by exoskeleton motion at each joint. Then, we analysed the impact of driving torque on human-machine interaction forces during active assistance at the hip and knee joints of the exoskeleton. When 100% assistance is provided to the hip and knee joints of the exoskeleton, the human-machine interaction force is the smallest and the assistance effect is the most obvious. Finally, a human-machine coupled motion model was established in Adams, and the mechanical factors of the exoskeleton model were added through constraints and driving functions. Simulation experiments were conducted on the impact of active assistance at the exoskeleton joints on human-machine interaction forces. Verified the accuracy of theoretical research results on the impact of exoskeleton joint matching on the relative position deviation of the binding position and active joint assistance on human-machine interaction force.