下肢支撑外骨骼在模拟装配任务中的辅助效果评估  

Evaluation of the auxiliary effect of the lower-limb supporting exoskeleton in the simulated assembly task

作　　者：高志华[1,2] 郭君扬 潘春生 GAO Zhi-hua;GUO Jun-yang;PAN Chun-sheng(School of Mechanical Engineering,Henan Polytechnic Institute,Nanyang 473000;Henan Material Forming Equipment Intelligent Technology Engineering Research Center,Nanyang 473000;Wolong Electric Nanyang Explosion-proof Group Co.,Ltd.,Nanyang 473000)

机构地区：[1]河南工业职业技术学院机械工程学院,河南南阳473000 [2]河南省材料成形装备智能技术工程研究中心,河南南阳473000 [3]卧龙电气南阳防爆集团股份有限公司,河南南阳473000

出　　处：《机械设计》2021年第5期93-98,共6页Journal of Machine Design

基　　金：2019年河南省科技攻关项目(192102210165)。

摘　　要：为了降低长时间从事站立、半蹲及重复性蹲起工作的工人患肌肉骨骼相关疾病的风险,提出了一种被动下肢支撑骨骼。文中主要评估该外骨骼被穿戴时的辅助效果和舒适性。10名男性参与3种模拟装配任务:分别以深蹲(膝关节弯曲60°)、半蹲(弯曲90°)、浅蹲(弯曲120°)装配螺钉,每种任务分别在穿戴外骨骼和不穿外骨骼时进行。测量大腿的股直肌、股二头肌、股外肌和股内肌的肌电信号,计算肌电信号的均方根(RMS)并将其标准化为肌肉最大收缩值(RVC)的百分比。试验结果显示穿戴外骨骼时,腿部肌肉的活动性降低了44.8%~71.5%。足底压力测量结果显示外骨骼承载了58.5%~64.2%的身体质量。70%受试者给外骨骼舒适性综合评分大于70分,表明该外骨骼的舒适性可被接受。因此该下肢支撑外骨骼可以承载人体部分质量,能有效减缓装配工人的腿部肌肉疲劳,增加持续工作时间耐力,提高工作效率。In this article,in order to reduce the risk of musculoskeletal-related diseases for workers who work in standing,semi-squatting and repetitive squats for a long time,the passive lower-limb supporting exoskeleton is proposed. The related evaluation is conducted on the auxiliary effect and comfort of this passive lower-limb exoskeleton. Ten males have participated in three simulated assembly tasks of screwing,including squatting( knee flexion 60°),semi-squatting( knee flexion 90°),and shallow squatting( knee flexion 120°) . Each task is composed of two statuses( with exoskeleton and without exoskeleton). The EMG signals of the rectus femoris,biceps femoris,femoral muscle and vastus medialis of the thigh are measured,and then the root mean square( RMS) of the EMG is calculated and standardized to the maximum contraction value of the muscle( RVC). The results show that with the exoskeleton,the activity of leg muscles reduces 44. 8% ~ 71. 5%. The plantar-pressure results show that the exoskeleton bears 58. 5% ~ 64. 2% of body weight. 70% of the participants have made a comprehensive score of exoskeleton comfort70+,which indicates that the exoskeleton has a high standard of comfort. Therefore,the lower-limb supporting exoskeleton can bear part of body weight,which will effectively reduce the fatigue of the leg muscles of assembly workers,strengthen the working endurance over a long period of time,and ensures higher efficiency.

关 键 词：下肢支撑外骨骼 肌电信号 足底压力 舒适性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]