Research on performance optimization method of human-machine physical interaction system considering exoskeleton wearing comfort_Journal of Biomedical Engineering

Authors：

QI Wenyao ^1,2 ,  YANG Yuwei ^1,2 , ZHOU Zuyi ^1,2 , GONG Jianchao ^1,2 , CHEN Pengyu ^1,2

1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Tianjin 300384, P. R. China;
2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin 300384, P. R. China;

Corresponding author：

YANG Yuwei, Email: buddhawei@126.com

Keywords：

Knee joint exoskeleton; Wearing comfort; Multi-objective genetic optimization; Topology optimization

DOI：

10.7507/1001-5515.202209022

Video：

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In order to improve the wearing comfort and bearing effectiveness of the exoskeleton, based on the prototype and working mechanism analysis of a relaxation wearable system for knee exoskeleton robot, the static optimization synthesis and its method are studied. Firstly, based on the construction of the virtual prototype model of the system, a comprehensive wearable comfort evaluation index considering the factors such as stress, deformation and the proportion of stress nodes was constructed. Secondly, based on the static simulation and evaluation index of system virtual prototype, multi-objective genetic optimization and local optimization synthesis of armor layer topology were carried out. Finally, the model reconstruction simulation data confirmed that the system had good wearing comfort. Our study provides a theoretical basis for the bearing performance and prototype construction of the subsequent wearable system.

Citation： QI Wenyao, YANG Yuwei, ZHOU Zuyi, GONG Jianchao, CHEN Pengyu. Research on performance optimization method of human-machine physical interaction system considering exoskeleton wearing comfort. Journal of Biomedical Engineering, 2023, 40(1): 118-124. doi: 10.7507/1001-5515.202209022 Copy

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9.	刘宇轩, 周彤, 王文东. 主被动结合的上下肢一体化助力外骨骼机器人的设计与效能评估. 机械工程学报, 2022, 58(21): 27-37.
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16.	杨玉维, 赵瀚, 李彬, 等. 一种带有智能张紧功能的自适应变刚度体外膝关节装置: 中国, 202010026090. 2020-01-10.
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19.	陈吉清, 李伟, 刘卫国, 等. 基于参数反求的汽车乘员肋骨有限元模型. 吉林大学学报(工学版), 2014, 44(2): 318-324.
20.	赵丽娟, 范佳艺. 基于遗传算法的采煤机螺旋滚筒多目标优化设计. 中国机械工程, 2018, 29(5): 591-596.
21.	李治伟, 周平, 金洙吉. 粗糙薄层弹性体接触刚度分析. 摩擦学学报, 2015, 35(1): 53-58.
22.	Lida K, Ono K. Design consideration of contact/near-contact sliders based on a rough surface contact model. J Tribol, 2003, 125(3): 562-570.
23.	刘今越, 顾立振, 郭士杰, 等. 人体舒适度及翻身高度与各部位压力分布研究. 机械设计与制造, 2019(9): 30-34.
24.	Lajeunesse V, Vincent C, Routhier F, et al. Exoskeletons’ design and usefulness evidence according to a systematic review of lower limb exoskeletons used for functional mobility by people with spinal cord injury. Disabil Rehabil Assist Technol, 2016, 11(7): 535-547.
25.	赵瀚, 赵新华, 杨玉维, 等. 下肢外骨骼创新仿生设计及承载性能分析. 天津理工大学学报, 2021, 37(5): 1-6, 44.

1. 张西正, 汤亭亭. 骨与关节生物力学. 上海: 上海交通大学出版社, 2017.
2. 王东海. 基于行走步态的被动式重力支撑柔性下肢外骨骼系统. 浙江: 浙江大学, 2016.
3. 杨秀霞, 赵国荣, 梁勇, 等. 下肢智能携行外骨骼系统控制理论与技术. 北京: 国防工业出版社, 2017.
4. 易岚, 欧阳厚淦, 欧阳彦楚, 等. 中西医治疗膝关节骨性关节炎的机理研究进展文献综述. 中医临床研究, 2021, 13(2): 142-145.
5. Witte K A, Fatschel A M, Collins S H. Design of a lightweight, tethered, torque-controlled knee exoskeleton// International Conference on Rehabilitation Robotics. London: IEEE, 2017: 1646-1653.
6. Chaichaowarat R, Kinugawa J, Kosuge K. Cycling-enhanced knee exoskeleton using planar spiral spring// Engineering in Medicine and Biology Society. Honolulu: IEEE, 2018: 1-6.
7. 刘志娟, 多自由度下肢外骨骼控制系统研究. 浙江: 浙江大学, 2011.
8. 杨灿军, 彭桢哲, 徐铃辉, 等. 柔性膝关节保护外骨骼及其行走助力方法设计. 浙江大学学报(工学版), 2021, 55(2): 213-221.
9. 刘宇轩, 周彤, 王文东. 主被动结合的上下肢一体化助力外骨骼机器人的设计与效能评估. 机械工程学报, 2022, 58(21): 27-37.
10. 杨忍. 7-DOF下肢外骨骼机器人驱动系统的设计与仿真. 厦门: 厦门大学, 2014.
11. Marin J, Nixon J, Gorecki C. A systematic review of risk factors for the development and recurrence of pressure ulcers in people with spinal cord injuries. Spinal Cord, 2013, 51(7): 522-527.
12. Huo W G, Mohammed S, Moreno J C, et al. Lower limb wear-able robots for assistance and rehabilitation: A state of the art. IEEE Syst J, 2016, 10(3): 1068-1081.
13. Pamungkas D S, Caesarendra W, Soebakti H, et al. Overview: Types of lower limb exoskeletons. Electronics, 2019, 8(11): 1-22.
14. Jose L P. Wearable robots: Biomechatronic exoskeletons. West Sussex: John Wiley & Sons, Ltd., 2008.
15. 栾益鹏, 张建军, 戚开诚, 等. 下肢外骨骼的新型足部机构舒适性优化. 生物医学工程学杂志, 2020, 37(2): 324-333.
16. 杨玉维, 赵瀚, 李彬, 等. 一种带有智能张紧功能的自适应变刚度体外膝关节装置: 中国, 202010026090. 2020-01-10.
17. 张琳琳, 沈凌, 朱明, 等. 大腿残肢步态过程的非线性有限元分析. 医用生物力学, 2013, 28(4): 397-402.
18. 张明, 麦福达. 假肢接受腔的计算机辅助设计和应力分析模型. 现代康复, 2000(2): 192-193.
19. 陈吉清, 李伟, 刘卫国, 等. 基于参数反求的汽车乘员肋骨有限元模型. 吉林大学学报(工学版), 2014, 44(2): 318-324.
20. 赵丽娟, 范佳艺. 基于遗传算法的采煤机螺旋滚筒多目标优化设计. 中国机械工程, 2018, 29(5): 591-596.
21. 李治伟, 周平, 金洙吉. 粗糙薄层弹性体接触刚度分析. 摩擦学学报, 2015, 35(1): 53-58.
22. Lida K, Ono K. Design consideration of contact/near-contact sliders based on a rough surface contact model. J Tribol, 2003, 125(3): 562-570.
23. 刘今越, 顾立振, 郭士杰, 等. 人体舒适度及翻身高度与各部位压力分布研究. 机械设计与制造, 2019(9): 30-34.
24. Lajeunesse V, Vincent C, Routhier F, et al. Exoskeletons’ design and usefulness evidence according to a systematic review of lower limb exoskeletons used for functional mobility by people with spinal cord injury. Disabil Rehabil Assist Technol, 2016, 11(7): 535-547.
25. 赵瀚, 赵新华, 杨玉维, 等. 下肢外骨骼创新仿生设计及承载性能分析. 天津理工大学学报, 2021, 37(5): 1-6, 44.

Journal of Biomedical Engineering

Research on performance optimization method of human-machine physical interaction system considering exoskeleton wearing comfort

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