This study aims to solve problems caused by misalignments between exoskeleton systems and the human body. Misalignments interfere with the achievement of the wearer’s motion intention by generating unintended interaction forces between the wearer and the exoskeleton system. Therefore, this study attempts to overcome this problem by applying an additional degree of freedom (DOF) to the fixation of the human body. First, we analyzed a system of a human body and exoskeleton connected by serial chains. Second, we derived all possible DOF sets for a 7-DOF exoskeleton system and determined the final DOF set based on practical applicability. Finally, we measured the interaction forces generated during the operation of the exoskeleton system to verify the effects of the fixation mechanism. The significance of the results was confirmed by a t test with a significance level of p ≤ 0.05.

这项研究的目的是解决由于外骨骼系统与人体之间未对准而引起的问题。错位会在穿戴者与外骨骼系统之间产生意想不到的相互作用力，从而干扰穿戴者实现运动意图。因此，本研究试图通过对人体固定应用额外的自由度（DOF）来克服此问题。首先，我们分析了由串行链连接的人体和外骨骼系统。其次，我们推导出了7自由度外骨骼系统的所有可能的自由度集，并根据实际适用性确定了最终的自由度集。最后，我们测量了外骨骼系统运行过程中产生的相互作用力，以验证固定机制的效果。结果的重要性已通过吨试验用的显着性水平p  ≤0.05。