腰部外骨骼机械结构的自由度设计与检验方法

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中图分类号：TP242.3 文献标识码：A 文章编号：2096-4706（2025）23-0180-04

Abstract：Work-related Musculoskeletal Disorders（WMSDs）of the lumbar and shoulder regions are often caused by movementssuchasheavy lifting，carrying，andtrunk bending.Forthisreason，lumbarexoskeletonsareusedtoallviate discomfortcaused bylower back and shoulder tendinopathies.This study designs acomputational method for thedegreeof freedomof movementinlumbar exoskeletonsand evaluates its impacton workers'degreeoffreedomof movementduring tasks. Initialljointangledataofparticipantsinworkingondiiosisolectedthoughhumanmotiontrackingtehnologtegated with inertialsensors.Subsequently，thedegreeoffredomofmovementrequiredforthestructuraldesignoftheexoskeleton is calculatedbasedontheD-Hmatrix，andthejointangledataisappliedtothedesignof theSilverbacklumbarexoskeleton. Afterthedevelopmentoftheexoskeletoniscompleted，inertialsensorsareusedagaintodetectparticipants'on-siteorkdata inreal tme toanalyze the impact ofthe“Silverback”exoskeletonon human movement.Testresults demonstrate thatthe use ofthe“Silverback”exoskeleton doesnotrestrict participants' movementperformance.Therefore，the“Silverback”lumbar exoskeleton can provide efective degree of freedom of movement while assisting Workers in their tasks.

Keywords： exoskeleton; musculoskeletal load; human movement degree of freedom; wearable device

0 引言

近年来，工作场所发生了大量背部和肩部受伤事件，引发了人们对工作相关肌肉骨骼疾病（WMSDs）的关注。（剩余5648字）