摘要
与工作相关的腰部和肩部肌肉骨骼疾病常由举重、搬运和躯干弯曲等动作引起。为此,腰部外骨骼被用于缓解下背部与肩部肌腱病引起的不适。本研究设计了一种腰部外骨骼运动自由度的计算方法,并评估其对工人作业过程中运动自由度的影响。首先,通过集成惯性传感器的人体运动跟踪技术,采集参与者在工作状态下的关节角度数据。随后,基于D-H矩阵计算出外骨骼结构设计所需的运动自由度,并将关节角度数据应用于“银背”腰部外骨骼的设计中。在完成该外骨骼的研制后,再次使用惯性传感器实时检测参与者的现场作业数据,以分析“银背”外骨骼对人体运动的影响。测试结果表明,使用“银背”外骨骼不会限制参与者的运动表现。因此,“银背”腰部外骨骼可在辅助工人作业的同时,提供有效的运动自由度。
Work-related Musculoskeletal Disorders(WMSDs)of the lumbar and shoulder regions are often caused by movements such as heavy lifting,carrying,and trunk bending.For this reason,lumbar exoskeletons are used to alleviate discomfort caused by lower back and shoulder tendinopathies.This study designs a computational method for the degree of freedom of movement in lumbar exoskeletons and evaluates its impact on workers'degree of freedom of movement during tasks.Initially,joint angle data of participants in working conditions is collected through human motion tracking technology integrated with inertial sensors.Subsequently,the degree of freedom of movement required for the structural design of the exoskeleton is calculated based on the D-H matrix,and the joint angle data is applied to the design of the Silverback lumbar exoskeleton.After the development of the exoskeleton is completed,inertial sensors are used again to detect participants'on-site work data in real time to analyze the impact of the“Silverback”exoskeleton on human movement.Test results demonstrate that the use of the“Silverback”exoskeleton does not restrict participants'movement performance.Therefore,the“Silverback”lumbar exoskeleton can provide effective degree of freedom of movement while assisting workers in their tasks.
作者
杨靓
YANG Liang(Apalong(Guangzhou)Intelligent Technology Co.,Ltd.,Guangzhou 510006,China)
出处
《现代信息科技》
2025年第23期180-183,共4页
Modern Information Technology
关键词
外骨骼
肌肉骨骼负荷
人体运动自由度
穿戴设备
exoskeleton
musculoskeletal load
human movement degree of freedom
wearable device
