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Load-bearing performance analysis of backpack exoskeleton with adaptive adjustment of the weight-gravity center
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Xi-yuan LI1, 2, Jian-jun ZHANG1, 2, Cun-jin AI1, 2, Jing-ke SONG1, 2
Journal of Vibration Engineering | 2024, 37(8) : 1299 - 1307
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Journal of Vibration Engineering | 2024, 37(8): 1299-1307
Load-bearing performance analysis of backpack exoskeleton with adaptive adjustment of the weight-gravity center
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Xi-yuan LI1, 2, Jian-jun ZHANG1, 2, Cun-jin AI1, 2, Jing-ke SONG1, 2
Affiliations
  • 1School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
  • 2Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion, Tianjin 300401, China
Published: 2024-08-28 doi: 10.16385/j.cnki.issn.1004-4523.2024.08.004
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The large oscillation of the weight center on the sagittal plane can produce shock and oscillating force on the shoulders and back of the human body，which can cause muscle fatigue in the upper limbs. To alleviate the impact and oscillating force，a hip-joint driven backpack exoskeleton with adaptive adjustment of the weight-gravity center is proposed. Based on the five-bar model of the human body，the kinematic model of the gravity center in the human-weight system and the human-exoskeleton-weight system is established by the D-H method to analyze the trajectory of the gravity center. Based on the Newton-Euler method，the human dynamics model and the human-exoskeleton dynamics model are established. The changes in the human shoulder back forces and the lumbar，hip，and knee joint moments are obtained in the human-weight and human-exoskeleton-weight systems. Results are validated by the software OpenSim. Kinematics，dynamics，and software simulation show that the exoskeleton reduces the fluctuation of the gravity center，improves the torque distribution of each joint，and improves the load-bearing performance.

human-machine dynamics  /  backpack exoskeleton  /  centroid trajectory  /  load-bearing performance
Xi-yuan LI, Jian-jun ZHANG, Cun-jin AI, Jing-ke SONG. Load-bearing performance analysis of backpack exoskeleton with adaptive adjustment of the weight-gravity center[J]. Journal of Vibration Engineering, 2024 , 37 (8) : 1299 -1307 . DOI: 10.16385/j.cnki.issn.1004-4523.2024.08.004
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Year 2024 volume 37 Issue 8
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Article Info
doi: 10.16385/j.cnki.issn.1004-4523.2024.08.004
  • Receive Date：2022-08-23
  • Online Date：2026-02-12
  • Published：2024-08-28
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  • Received：2022-08-23
  • Revised：2022-12-15
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    1School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
    2Hebei Provincial Key Laboratory of Robot Perception and Human-Machine Fusion, Tianjin 300401, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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