机器人2026，Vol.48Issue(1)：66-76,88,12.DOI:10.13973/j.cnki.robot.240187
一种基于运动状态机的搬运助力外骨骼
A Handling Assistance Exoskeleton Based on Motion State Machine
摘要
Abstract
To reduce muscle injuries for workers engaged in manual handling tasks,a lasso-driven handling assistance exoskeleton is proposed,addressing the limitations of low flexibility and poor human-robot coupling in existing exoskeletons.The exoskeleton employs motor-driven lasso reels to enable flexible deployment/retraction of the lasso,providing lifting assistance.Firstly,the motion intention of wearers is recognized based on multi-sensor data fusion.And a hierarchical control strategy is adopted for the exoskeleton,with finite motion state machine and hybrid force-position control serving as the upper-and lower-level control of the control system.Secondly,performance testing and assistance evaluation are conducted on the exoskeleton.Experimental results demonstrate 11.7％reduction in biceps brachii muscle activation level and 37.3％reduction in lumbar erector spinae activation level during the 10 kg load lifting/carrying.During the 10 kg load transportation at a walking speed of 0.8 m/s,biceps brachii muscle activation level is decreased by 31.9％.These results validate the effective assistance capability of the exoskeleton for both arm and lumbar regions.关键词
搬运助力外骨骼/套索驱动/运动意图识别/有限状态机Key words
handling assistance exoskeleton/lasso-driven/motion intention recognition/finite state machine引用本文复制引用
韩亚丽,徐闽海,韩子瑒,周磊,陈志阳..一种基于运动状态机的搬运助力外骨骼[J].机器人,2026,48(1):66-76,88,12.基金项目
国家自然科学基金(52375292) （52375292）
江苏省研究生科研与实践创新计划(SJCX23_1184). （SJCX23_1184）
