摘要：There have been many studies on design and control of hip-joint wearable robots,a part of which have already been commercialized. However, the clear assistance effects of thewearable robot on the human body have not been studied much yet.Although the human bodydynamics may be considered in the robot design stage,it is difficult to predict the resultanitafter wearing the robot due to the complicated nature of human-robot interaction. Anotherdifficulty in designing a hip-joint wearable robot is that the weight of the robot must be takeninto consideration becase the wearer must fully bear the whole weight of the robot. If a highperformance actuator is used to provide greater assistance, the weight of the robot will inevitablyincrease，putting a burden on the human body. In this paper，musculoskeletal simulation isutilized to predict and analyze the effects of assistance and weight of robot on the humanbody. Then, the reliability of the simulation is verified through the wearable robot experiment.Furthermore,the relationship between assistance and weight of the robot is derived from thespecifications of the commercial hip-joint wearable robots. As a result of the parameter studyby applying this relationship,the optimal hip-joint wearable robot weight that the human canreceive the best assistance effect is obtained.
