Design and evaluation of powered lumbar exoskeleton based on human biomechanics.

Abstract

Objectives: In view of the gradual rejuvenation and acceleration of lumbar spondylosis, a wearable powered lumbar exoskeleton based on a 6-SPU/SP parallel mechanism is designed based on the rehabilitation treatment method of lumbar forward flexion/extension, left/right lateral flexion and rotation.

Methods: First, the changes in human lumbar muscles are analyzed based on human biomechanics, and then the prototype design of the powered lumbar exoskeleton is implemented, including the mechanical mechanism design, and hardware module design. Finally, the simulation experiment of muscle force and output sensitivity test in the resistive mode are conducted.

Results: The simulation results show that the external oblique muscle can be relieved about 20 % and the iliopsoas muscle can be decreased by 33 % when wearing the powered lumbar exoskeleton in the lateral flexion. The pressure sensors can measure the output force of each actuator in real-time when the resistance force reaches the set value of 15 N at the resistive model.

Conclusions: The results show that the powered lumbar exoskeleton can assist the human lumbar spine in rehabilitation training of traction, forward flexion and extension, left and right lateral flexion, and rotation. This research provides new ideas for future clinical research.