用微型力传感器实时测外骨骼与人体接触力，提升评估准确性
A Practical Sensing Interface for Exoskeleton Evaluation in Workplaces using Interface Forces
- 在大腿护具中嵌入微型力传感器，无感测量人机接触力
- 实验显示传感器读数与肌肉活动相关性更强，验证辅助有效性
- 适合工业场景快速评估外骨骼性能，替代易受干扰的肌电检测
本文提出一种新型方法，用于在工作场所评估背部助力外骨骼（BSE）的表现，克服传统肌电图（EMG）因受外界干扰和汗液影响而难以实用的局限。由于关节对位不准和人体差异导致的个体间性能波动，常引发不适并降低效果。为此，我们在外骨骼大腿护具中集成小型力传感器，实现精准测量，且不改变其运动学与惯性特性，可在实验室和真实工作环境中实时评估外骨骼提供的辅助力。负载提升任务的实验验证表明，该传感器能有效捕捉外骨骼与人体之间的界面力，当外骨骼提供有效辅助时，其读数与用户肌肉活动的相关性更显著。该传感接口为替代易受干扰的肌电或呼吸气体测量提供了稳定、实用的方案，有助于在真实工业与实验室环境中更准确、便捷地评估外骨骼性能，有望提升外骨骼的采纳率与实际效能。
原文摘要 · Abstract (English)
This paper presents a novel approach to evaluating back support exoskeletons (BSEs) in workplace settings addressing the limitations of traditional methods like electromyography (EMG), which are impractical due to their sensitivity to external disturbances and user sweat. Variability in BSE performance among users, often due to joint misalignment and anthropomorphic differences, can lead to discomfort and reduced effectiveness. To overcome these challenges, we propose integrating a compact load cell into the exoskeleton's thigh cuff. This small load cell provides precise force measurements without significantly altering the exoskeleton's kinematics or inertia, enabling real-time assessment of exoskeleton assistance in both laboratory and workplace environments, Experimental validation during load-lifting tasks demonstrated that the load cell effectively captures interface forces between the BSE and human subjects, showing stronger correlations with the user's muscle activity when the BSE provides effective assistance. This innovative sensing interface offers a stable, practical alternative to EMG and respiratory gas measurements, facilitating more accurate and convenient evaluation of BSE performance in real-world industrial and laboratory settings. The proposed method holds promise for enhancing the adoption and effectiveness of BSEs by providing reliable, real-time feedback on their assistance capabilities.
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