无源上肢外骨骼的基础协调性评估
周针兵,干静,文心雨,谯镜桦
(四川大学 机械工程学院,四川 成都 610065)
摘要:外骨骼能为人类运动提供辅助力,辅助人们完成更高强度的工作,在市场中的应用日益增加,解决其人机协调性问题变得尤为重要。为评估无源上肢外骨骼在三个运动平面上的基础协调性,12名受试者模拟了3种基础负重任务。运用光学动作捕捉设备采集受试者肩肘腕关节、腕肩髋的夹角和两肘间距的运动数据,并使用SPSS对其进行Wilcoxon秩和检验,最后通过五级李克特量表问卷采集主观评估数据,验证主客观结果的一致性。结果显示,该上肢外骨骼对水平面任务的干扰较为明显,会限制双臂水平向后摆动;对其余运动平面的干扰较小,不影响任务的正常完成。该外骨骼的协调性有待进一步提高,主客观结果一致,表明该方法能有效的定量评估外骨骼的协调性。
关键词:外骨骼;动作捕捉;协调性评估;运动平面 
中图分类号:TB18 文献标志码:A doi:10.3969/j.issn.1006-0316.2022.04.013
文章编号:1006-0316 (2022) 04-0074-07
Basic Coordination Assessment of Passive Upper Extremity Exoskeleton
ZHOU Zhenbing,GAN Jing,WEN Xinyu,QIAO Jinghua
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract:Exoskeleton can provide auxiliary force for human movement and assist people to complete higher-intensity work. Its application in the market is increasing. Solving the problem of human-machine coordination becomes particularly important. To assess the basic coordination of the passive upper extremity exoskeleton on the three planes of motion, 12 subjects simulated 3 basic weight-bearing tasks. Use optical motion capture equipment to collect the motion data of the subjects' shoulder, elbow, wrist, Wrist shoulder hip angles, and the distance between the two elbows, and use SPSS to perform Wilcoxon rank sum test on them, and finally collect subjectiveness through the five-level Likert scale questionnaire Evaluate the data to verify the consistency of subjective and objective results. The results showed that the upper extremity exoskeleton interfered significantly with the horizontal plane task, which would restrict the horizontal back swing of the arms; the interference on the rest of the motion plane was small, and it did not affect the normal completion of the task. In conclusion, the coordination of the exoskeleton needs to be further improved, and the subjective and objective results are consistent, indicating that this method can effectively quantitatively evaluate the coordination of the exoskeleton.
Key words:exoskeleton;motion capture;coordination evaluation;motion plane 
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收稿日期:2021-11-15
基金项目:军工横向项目JG2021016(HG2021009)
作者简介:周针兵(1996-),男,四川广安人,硕士研究生,主要研究方向为人机包容性设计、工业设计,E-mail:1762922700@qq.com;干静(1968-),女,重庆人,博士研究生,教授,主要研究方向为人机包容性设计、计算机辅助工业设计、机械设计等。
 

 

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