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摘要:
In the previous exoskeleton research, the development method of the exoskeleton -function-expectation prediction in the initial design stage is lacking, which is not con-ducive to reviewing the system-parameter influences on exoskeleton performances, nor to exploring the exoskeleton optimization direction. In this paper, a human-exoskeleton oscillation model is designed by integrating the main functions of one load-supporting exoskeleton in the gravity direction into the double-mass coupled oscillator model. The model simplifies the human-exoskeleton coupling motion into the human-exoskeleton os-cillation motion in the gravity direction, and in the oscillation process qualitatively calcu-lates the multiple functional expectations of the exoskeleton, such as the load-supporting capability, the human-exoskeleton interaction force, the oscillation response of the back-pack and the power-assistance ability. By comparing the test results of the model with previous research, the model performance was analyzed. And further, the reasons for the unsatisfying load-supporting efficiency of previous exoskeletons were explained and the influences of system parameters for the system expectations were evaluated, which helps to provide a theoretical basis for improving the exoskeleton load-supporting efficiency and human-body comfort. In addition, the combination of the exoskeleton supporting static load and the suspension system buffering dynamic load is a new direction, and the model of the paper is also beneficial to evaluate the interference degree of the exoskeleton to the suspension system.(c) 2023 Elsevier Inc. All rights reserved.
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来源 :
APPLIED MATHEMATICAL MODELLING
ISSN: 0307-904X
年份: 2023
卷: 120
页码: 40-56
5 . 0 0 0
JCR@2022
ESI学科: ENGINEERING;
ESI高被引阀值:19
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