The Design and Application of an Assistive Hip Joint Exoskeleton for Tower Climbing

被引:0
|
作者
Li, Ming [1 ]
Yin, Hong [1 ]
Yang, Zhan [1 ]
Hu, Hongwei [1 ]
Chen, Haoyuan [1 ]
Fu, Zhijun [2 ]
Yang, Xiao [2 ]
Guo, Zhao [2 ]
机构
[1] State Grid Hubei Elect Power Co Ltd, Extra High Voltage Co, Wuhan 430050, Peoples R China
[2] Wuhan Univ, Sch Power & Mech Engn, Wuhan 430072, Peoples R China
关键词
tower climbing; hip joint exoskeleton; climbing motion; neural network;
D O I
10.3390/s24237513
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
In order to ensure the safety of maintenance personnel during tower climbing and improve the efficiency of power maintenance work, this study designed an assistive hip joint exoskeleton robot and analyzed the kinematic data obtained from tower climbers during the climbing process. A neural-network-based assistive control algorithm for tower climbing was created, and a tower climbing experiment was conducted with volunteers. The surface electromyographic (sEMG) signals of four muscles, namely the biceps femoris (BF), gluteus maximus (GM), semimembranosus (SM), and semitendinosus (ST), were collected to evaluate the performance of the robot. The experimental results show that the exoskeleton robot could reduce the root mean square (RMS) values of the sEMG signals of the main force-generating muscles related to the hip joint. This suggests that the robot can effectively assist personnel in tower climbing operations.
引用
收藏
页数:12
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