Force Point Transfer Method to Solve the Structure of Soft Exoskeleton Robot Deformation due to the Driving Force

摘要

The structure of the human body is the result of biological evolution, which can support us to complete the action demand of daily life work well. But for high strength manual workers, soldiers and disabled patients with motor dysfunction, they need use external auxiliary devices to assist them in completing their actions. The exoskeleton robot is the product of man-machine fusion, which can provide wearer with an auxiliary power. The soft exoskeleton robot has the characteristics of adaptability and flexibility in movement, which is flourish. But the soft exoskeleton has the disadvantage of easy deformation of the soft material, which will affect the motion effect and the control precision. In this paper, the force position point transfer method is proposed to solve the easy deformation of the tensile force of the soft materials. The pulling force is transferred from the soft material to the hard backboard, which can solve the problem of the deformation of the soft materials. It is of great significance to improve the force effect and the precision of the robot position control.