苏州科技大学学报（自然科学版）2026，Vol.43Issue(2)：70-78,9.DOI:10.12084/j.issn.2096-3289.2026.02.009
人工物料搬运中外骨骼负重识别与助力有效性研究
Research on the effectiveness of exoskeleton weight recognition and assistance in manual material handling
摘要
Abstract
Manual material handling frequently leads to fatigue or chronic pain in the lower back.Back-assisted exo-skeleton can effectively provide support and reduce the risk of such professional injuries.This study analyzes lumbar torque requirements under different loading conditions and proposes an active assistance strategy that integrates dy-namic biomechanical modeling,hand-held load recognition,and posture detection.A prototype exoskeleton system with load recognition capability was developed to automatically adjust assistive output in real time.In a lifting task in-volving 15 kg,experimental results from six participants show that compared to the no-exoskeleton condition,the av-erage EMG amplitudes of the LTL,LTT,RTT,and RTL muscles were reduced by 52.03%,59.21%,51.33%,and 60.19%,respectively(p<0.05).The results demonstrate that integrating load recognition with posture-based con-trol significantly enhances assistive adaptability and user comfort,providing a reference for the control design of simi-lar exoskeleton systems.关键词
背部助力外骨骼/人工物料搬运/重物识别/控制策略/拟人化控制/交互规划Key words
back-assisted exoskeleton/manual material handling/heavy object recognition/control strategy/per-sonification control/interaction planning分类
信息技术与安全科学引用本文复制引用
李佳倩,朱伟杰,高子涵,魏巍,林西川,杨栋,王淼鑫..人工物料搬运中外骨骼负重识别与助力有效性研究[J].苏州科技大学学报（自然科学版）,2026,43(2):70-78,9.基金项目
苏州市前沿技术研究项目(SYG202306) （SYG202306）
广东省机器人与智能系统重点实验室开放课题 （）
