骑乘式下肢助行器结构与运动仿真研究OA北大核心CSTPCD

With the increasing aging degree in China,for meeting more and more elderly people needs,a ride-by-ride walking aid device for lower limbs is designed and kinematics simulation is carried out.Firstly,the degree of freedom of the walking aid is allocated by analyzing the characteristics of human lower limb movement,and the weight reduction model of the walking aid is established and its feasibility is verified.Secondly,the entity modeling of the walking aid device is established.Then the standard D-H method is used to analyze the kinematics of the swing phase of the walker.Finally,the human lower limb angular displacement drive function is written based on OpenSim open source software,and the kinematics simulation is carried out with virtual prototyping technology to obtain the angular displacement curve of the walker joint.The simulation results show that the riding lower limb walker has good physical coupling with the human body.