Human-exoskeleton oscillation model and qualitative analysis of interaction and functional practicality of exoskeletons

Abstract

In the previous exoskeleton research, the development method of the exoskeleton-function-expectation prediction in the initial design stage is lacking, which is not conducive 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 oscillation motion in the gravity direction, and in the oscillation process qualitatively calculates the multiple functional expectations of the exoskeleton, such as the load-supporting capability, the human-exoskeleton interaction force, the oscillation response of the backpack 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.