本文選題：外骨骼 + 性能評估　； 參考：《電子科技大學》2013年碩士論文

【摘要】：外骨骼服是一種可穿戴仿人機械裝置，主要用于增強人體機能�，F今對外骨骼技術的研究方興未艾，其使用范圍也逐漸變得廣泛。外骨骼技術融合了運動生理學、機械設計、可穿戴計算、通信甚至人工智能等學科內容，且更多其他學科的技術被應用到外骨骼服的研究中。目前對外骨骼技術的研究主要集中在步態(tài)識別，感知控制以及機械設計等部分，對外骨骼綜合性能評估研究尚為空白。 本文分析了外骨骼性能評估過程，建立了一個總體評估模型，并引入了模糊綜合評價的方法對外骨骼性能進行了評估。首先，從外骨骼服系統(tǒng)自身以及使用者的角度出發(fā)，分析了反映外骨骼性能的指標空間以及它們對性能的影響和各自定義，提出了能夠反映外骨骼性能的指標，從而建立起評估的指標集；其次，根據指標的特點提出了獲取指標元素值的方法：對于“硬指標”如膝關節(jié)角度使用加速度傳感器，設計硬件電路、數據通信格式以及數據處理程序，成功地搭建了膝關節(jié)角度測量平臺，對于“軟指標”如心理負荷，，通過對使用者操作外骨骼時的心理負荷情況進行分析，確定了使用NASA-TLX量表的方法來測量心理負荷的大小，之后，在所設計的測試平臺上設計對比實驗，獲取實驗前后指標值的變化；最后，在獲得指標集元素的指標值后，采用模糊綜合評價的方法對性能進行綜合評價：根據所得指標值的特點，進一步抽象出評估指標組成指標集合，并通過層次分析法確定了指標集中每個元素的權重，之后選取合適的隸屬度函數，根據每個指標的分級標準，通過模糊綜合評價的方法，獲取了隸屬度關系矩陣并采用合適的模糊綜合評價的算子，將權重集和模糊綜合評價矩陣進行算子運算，從而得到了性能評估向量，再根據最大隸屬度原則，選擇最大值，從而確定了外骨骼綜合性能值。 使用模糊綜合評價的方法對外骨骼性能評估的研究非常有意義：一方面，可以驗證所設計的外骨骼性能的優(yōu)劣；另一方面，通過調整設計參數并對調整前后外骨骼綜合性能進行對比，可以找出一個最優(yōu)設計。
[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.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：R318.17

【參考文獻】

相關期刊論文 前7條

1 洪炳熔,賀懷清;虛擬人的步行和跑步運動控制方法的研究[J];高技術通訊;2001年03期

2 李爽;羅志增;孟明;;基于加速度傳感器的下肢運動信息獲取方法[J];機電工程;2009年01期

3 李蔭湘;錢晉武;沈林勇;王企遠;;步行康復機器人軌跡控制方法研究[J];機電工程;2010年06期

4 陳占伏;楊秀霞;顧文錦;;下肢外骨骼機械結構的分析與設計[J];計算機仿真;2008年08期

5 郭慶;張向剛;朱家元;章智凱;;下肢外骨骼液壓控制系統(tǒng)仿真與性能試驗[J];計算機仿真;2012年11期

6 余偉正;錢晉武;馮治國;章亞男;沈林勇;;下肢外骨骼矯形器運動學分析[J];上海大學學報(自然科學版);2010年02期

7 王一吉;李建軍;;一種可提高和改善步行功能的裝置:動力下肢外骨骼系統(tǒng)的設計及應用[J];中國康復理論與實踐;2011年07期

相關博士學位論文 前1條

1 馮治國;步行康復訓練助行腿機器人系統(tǒng)[D];上海大學;2009年

相關碩士學位論文 前2條

1 牛彬;可穿戴式的下肢步行外骨骼控制機理研究與實現[D];浙江大學;2006年

2 樓芬;露天礦邊坡安全的模糊隨機可靠度分析[D];中南大學;2008年

本文編號：2101017