Research on Assisting Control and Oxygen Metabolism Testing of Rope Driven Flexible Exoskeleton

Abstract

In order to improve the human-machine collaborative comfort and assistance comfort of rope driven flexible assisted exoskeleton robots, research is conducted on the assistance control design and assistance performance of rope driven flexible assisted exoskeleton robots. This article proposes the use of inertial measurement units (IMUs) for real-time detection of human motion posture information, and by extracting features from human motion posture information, a human motion gait switching model is used to identify the phase of the motion gait. Then, based on the gait phase recognition structure, plan the timing and duration of assistance for the exoskeleton. Then, based on the transfer efficiency model of the load on the human skeleton, the assistance size of the exoskeleton is determined, and a force position hybrid control method is used to assist in controlling human motion, obtaining control commands. Finally, the assistance performance of the exoskeleton was verified through the evaluation of human exercise net oxygen uptake metabolism test. The experimental results show that under the conditions of a slope of 5°, a walking speed of 5km/h, and an external load of 25kg, the rope driven flexible assisted exoskeleton robot can reduce the net oxygen uptake metabolism of human movement by a maximum of 10.28%, a minimum of about 2.2%, and an average reduction of about 6.23%. The results demonstrate that rope driven flexible assisted exoskeleton robots have significant assistance effects on human motion.