OpenSim-Based Human-Robot Coupling Simulation of a Piggyback Nursing Robot

To address the current issue of comfort lack in the piggyback nursing robot, the movement trajectory debugging is easy to cause secondary injuries to the care recipient, and the human-robot coupling research is insufficient, among other things. In this paper, a human-robot coupling model between the piggyback nursing robot and the human body is established by OpenSim, and the human-robot contact force during back-carrying movement is investigated. Firstly, the structure and function of the piggyback nursing robot are introduced. Based on this, a human-robot contact force testing experimental system is constructed, and the human-robot contact force during back-carrying movement is obtained through experiments. Then, human-robot coupling model is built in OpenSim. Finally, the human-robot contact force is obtained by simulating the robot back-carrying movement, and the validity of the human-robot coupling model is verified by comparing the experimental results of the human-robot contact force test. The analysis reveals that the axillary force has a greater impact on the comfort of the care recipient compared to the chest force, and excessive force in the Y direction is a major contributor to the sensation of compression.