工程设计学报2019，Vol.26Issue(1)：65-72,109,9.DOI:10.3785/j.issn.1006-754X.2019.01.009
基于人机闭链的下肢康复外骨骼机构运动学分析
Kinematics analysis of lower limb rehabilitation exoskeleton mechanism based on human-machine closed chain
摘要
Abstract
Aiming at the motion deviation in the use of lower limb rehabilitation exoskeleton, the structure design and kinematics analysis of a lower limb rehabilitation exoskeleton was completed based on the human-exoskeleton movement model and adjustment model.Firstly, using the theory of human-machine deviation variable and the theory of human-machine compatibility, the human-exoskeleton adjustment model was established by adding the passive degree of freedom to the human-exoskeleton movement model.Based on the human-exoskeleton movement model and the human-exoskeleton adjustment model, the lower limb rehabilitation exoskeleton was designed.The lower limb rehabilitation exoskeleton provided movement mode and adjustment mode, which could be switched by the sliding deviation detection device of the human-machine.The kinematics model of single lateral exoskeleton mechanical leg was established, and the motion equation and the linkage transformation matrix were solved.The MATLAB and ADAMS software were used to simulate the exoskeleton model and the human-exoskeleton model, the simulation results were compared and analyzed.The results showed that the moving space in the sagittal plane of the exoskeleton could cover the end trajectory of the human body.The movement trend and theoretical movement trend of the exoskeleton joints were basically consistent, and the adjustment mode compensated the motion deviation of the movement mode, which proved the rationality of the lower limb rehabilitation exoskeleton.The lower limb rehabilitation exoskeleton mechanism based on human-machine closed chain can compensate the motion deviation and avoid the secondary damage.It can be used for reference in the practical design of exoskeleton, and provides a theoretical basis for exoskeleton mechanism research.关键词
下肢康复外骨骼/人体-外骨骼调整模型/结构设计/运动学分析Key words
lower limb rehabilitation exoskeleton/human-exoskeleton adjustment model/structure design/kinematics analysis分类
信息技术与安全科学引用本文复制引用
李静,朱凌云,苟向锋..基于人机闭链的下肢康复外骨骼机构运动学分析[J].工程设计学报,2019,26(1):65-72,109,9.基金项目
国家自然科学基金资助项目 (51365025) （51365025）
天津市自然科学基金重点资助项目 (16JCZDJC38500) （16JCZDJC38500）
