Design and Analysis of Upper Limb Passive Exoskeleton Robot for Lift Assist

摘要

Abstract . Exoskeleton robots are developing rapidly in the field of industrial manufacturing and medical rehabilitation as an intelligent wearable power assist device, which can reduce the lifting burden and muscle fatigue. Existing upper limb passive exoskeleton robots still need to be improved for human-machine integration. In this paper, by establishing a human kinematic model and a lumbar spine motion model, the lifting assist is analyzed, and the design principle of human-machine integration is used to complete the passive upper limb. In structural design, the exoskeleton robot is divided into 4 structural modules, combined with the specific motion form of the spring energy storage module to complete the cam curve design, and the EMG test system is used to collect the surface EMG of the user without wearing and wearing the exoskeleton robot. According to the signal EMG data, the experiment shows that the amplitude of the muscle EMG signal in the wearing state is smaller than that of the non-wearing muscle EMG signal, and the amplitude of the muscle activation amplitude varies from 0 to 10%, which verifies the effectiveness of the upper limb passive exoskeleton.