Biomechanical Analysis of Squatting, Jumping and Striding Ditches with 30kg Payload for Design of Exoskeleton

The biomechanical analysis is the basis for the design and research of the power-assisted exoskeleton. In this paper, a dynamic model of human squatting and jumping was established. The biomechanical test platform was built which consisted of the Qualisys Motion Capture System, Visual3D Software and a 30kg payload. A healthy adult man attended this experiment, in which there were data of 18 movements collected with Okg and 30kg payload relatively under the squatting, jumping and striding ditches. The analyses based on the data, including angle, torque, and power, demonstrate that 1) during the squatting, the torque and power provided by the knee are the largest, torque and power of the ankle increased the most under 30kg payload and 2) during the jumping, the knee which provides the largest torque and power has the largest range of motion, the power of the ankle is also larger, and the ankle plays an important role in the take-off and landing buffer process and 3) during the striding ditches, the torque and power of the left ankle are the largest and the positive power increases greatly, and the torque and power of the right knee are smaller without load while increasing significantly under load and the negative power of the knee is larger under load, and the buffering effect of the knee is obvious. Therefore, in the case of squatting, jumping and striding ditches, exoskeleton design should pay more attention to knee and ankle joints. These results provide a theoretical basis for the design of the power-assisted exoskeleton.