Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton.

中文翻译：

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外骨骼提升原位载荷的方法，设计和评估

由于外骨骼的应用场景和力分析不明确，外骨骼设计存在研究空白。本文介绍了一种针对特定现场提升负载情况的外骨骼设计方法和实现。首先，基于3-D运动捕捉系统和测力计跑步机系统，收集起重运动过程及其数据。然后，通过数据分析获得每个关节的扭矩和运动的变化，在此基础上，演示了上肢的主动辅助模式和下肢的被动辅助模式。在此设计中，根据每个关节的运动和扭矩计算并选择了用于肩部辅助的液压缸，用于肘部辅助的电动机和用于下肢辅助的弹簧。最后，