外骨骼服性能评估系统的研究

发布时间：2018-07-05 17:03

本文选题：外骨骼 + 性能评估　；参考：《电子科技大学》2013年硕士论文

【摘要】：外骨骼服是一种可穿戴仿人机械装置，主要用于增强人体机能。现今对外骨骼技术的研究方兴未艾，其使用范围也逐渐变得广泛。外骨骼技术融合了运动生理学、机械设计、可穿戴计算、通信甚至人工智能等学科内容，且更多其他学科的技术被应用到外骨骼服的研究中。目前对外骨骼技术的研究主要集中在步态识别，感知控制以及机械设计等部分，对外骨骼综合性能评估研究尚为空白。本文分析了外骨骼性能评估过程，建立了一个总体评估模型，并引入了模糊综合评价的方法对外骨骼性能进行了评估。首先，从外骨骼服系统自身以及使用者的角度出发，分析了反映外骨骼性能的指标空间以及它们对性能的影响和各自定义，提出了能够反映外骨骼性能的指标，从而建立起评估的指标集；其次，根据指标的特点提出了获取指标元素值的方法：对于“硬指标”如膝关节角度使用加速度传感器，设计硬件电路、数据通信格式以及数据处理程序，成功地搭建了膝关节角度测量平台，对于“软指标”如心理负荷，，通过对使用者操作外骨骼时的心理负荷情况进行分析，确定了使用NASA-TLX量表的方法来测量心理负荷的大小，之后，在所设计的测试平台上设计对比实验，获取实验前后指标值的变化；最后，在获得指标集元素的指标值后，采用模糊综合评价的方法对性能进行综合评价：根据所得指标值的特点，进一步抽象出评估指标组成指标集合，并通过层次分析法确定了指标集中每个元素的权重，之后选取合适的隶属度函数，根据每个指标的分级标准，通过模糊综合评价的方法，获取了隶属度关系矩阵并采用合适的模糊综合评价的算子，将权重集和模糊综合评价矩阵进行算子运算，从而得到了性能评估向量，再根据最大隶属度原则，选择最大值，从而确定了外骨骼综合性能值。使用模糊综合评价的方法对外骨骼性能评估的研究非常有意义：一方面，可以验证所设计的外骨骼性能的优劣；另一方面，通过调整设计参数并对调整前后外骨骼综合性能进行对比，可以找出一个最优设计。
[Abstract]:Exoskeleton clothing is a wearable human-like mechanical device, mainly used to enhance human function. Nowadays, exoskeleton technology is in the ascendant, and its application is becoming more and more extensive. Exoskeleton technology combines exercise physiology, mechanical design, wearable computing, communications and even artificial intelligence, and many other disciplines have been applied to the study of exoskeleton clothing. At present, the research of exoskeleton technology is mainly focused on gait recognition, perception control and mechanical design. In this paper, the evaluation process of exoskeleton performance is analyzed, a general evaluation model is established, and a fuzzy comprehensive evaluation method is introduced to evaluate the exoskeleton performance. First of all, from the point of view of exoskeleton clothing system itself and users, this paper analyzes the index space which reflects exoskeleton performance, their influence on performance and their respective definitions, and puts forward the index which can reflect exoskeleton performance. Then the index set is established. Secondly, according to the characteristics of the index, the method of obtaining the index element value is put forward: for the "hard index" such as the knee joint angle using acceleration sensor, the hardware circuit is designed. The data communication format and data processing program successfully set up the knee joint angle measurement platform, for "soft indicators" such as psychological load, through the user operating exoskeleton psychological load analysis, The method of using NASA-TLX scale to measure the psychological load is determined. After that, a comparative experiment is designed on the designed test platform to obtain the change of the index value before and after the experiment. Finally, after obtaining the index value of the index set element, The method of fuzzy comprehensive evaluation is used to evaluate the performance: according to the characteristics of the obtained index value, the index set is abstracted, and the weight of each element in the index set is determined by analytic hierarchy process (AHP). Then select the appropriate membership function, according to the classification standard of each index, through the fuzzy comprehensive evaluation method, obtain the membership relation matrix and adopt the appropriate fuzzy comprehensive evaluation operator. The weight set and the fuzzy comprehensive evaluation matrix are operated on to obtain the performance evaluation vector and then the maximum value is selected according to the principle of maximum membership degree and the comprehensive performance value of exoskeleton is determined. The study of exoskeleton performance evaluation using fuzzy comprehensive evaluation method is of great significance: on the one hand, it can verify the advantages and disadvantages of the designed exoskeleton performance; on the other hand, By adjusting the design parameters and comparing the comprehensive performance of exoskeleton before and after adjustment, an optimal design can be found.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：R318.17

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