林用双下肢无源负重外骨骼设计及实验研究

[Objective]In order to solve the problem of high labor intensity of forestry firefighters who have to bear heavy load for a long time to extinguish fires,we carry out experiments on the design of double lower limb passive load-bearing exoskeletons for forestry and research on their key technologies.[Method]A double lower limb passive load-bearing exoskeleton for forest use is proposed,a human motion gait model is established under the climbing scenario,the mechanical structure design of the exoskeleton is completed and the finite element simulation software is used to carry out the overall static structural calibration,the research on the muscle dynamics of human lower limbs in the process of climbing is carried out by combining with the gait of the human body,and the human-machine interaction real-time acquisition system of the exoskeleton is constructed and the performance of the exoskeleton in terms of load-bearing is verified by the wearable experiment of the prototype.[Result]Previous studies and experimental results showed that wearers wearing exoskeleton weight-bearing reduced their average heart rate and oxygen consumption by 5%and 7.62%,respectively,relative to normal weight-bearing walking,and that weight-bearing foot pressures were reduced by 7.25%with exoskeleton weight-bearing relative to unworn exoskeleton.[Conclusion]Forestry exoskeleton robots can effectively reduce the wearer's sense of weight,save human energy expenditure,and provide a technical basis for solving the problem of high labor intensity of long time and long distance carrying fire-fighting equipment for forest firefighters in forest fire prevention and suppression work.