基于骨骼服的虚拟人体建模与仿真  

Virtual Body Model’s Modeling and Simulation Based on Exoskeleton

作　　者：刘明辉[1] 顾文锦[2] 陈占伏[3] 

机构地区：[1]海军航空工程学院研究生管理大队,山东烟台264001 [2]海军航空工程学院控制工程系,山东烟台264001 [3]91079部队,江苏常州213000

出　　处：《海军航空工程学院学报》2009年第2期157-161,共5页Journal of Naval Aeronautical and Astronautical University

摘　　要：下肢外骨骼是一种人机结合的可穿戴的智能装置,用来提高单兵行走时的负荷能力。通过结合人的智能和机械的力量,使人与机械的优势得到互补,不仅可以避免用机械模拟人的智能带来的困难,还能够拓展穿戴者的负荷能力。文章首先基于人体行走的生物学特征利用零力矩点（ZMP）稳定性理论,分析了人体的动态稳定性的特点;然后,在ADAMS中建立了虚拟人体模型,对人体行走模型进行了仿真,通过对比仿真结果,验证了模型ZMP处于稳定状态,并且说明了在ADAMS人体建模与仿真的可行性。The lower extremity exoskeleton is a wearable intelligent device that integrates human body with exoskeleton, so as to improve the soldier＇s ability of load-carrying. By combining the human intelligent with exoskeleton power, the advantages of human and exoskeleton complement each other, not only can avoid the difficulties that brought by using mechanism imitate the human intelligent, but also can extend the wearer＇s ability of load-carrying. So Firstly, based on the biological characteristic of the human walking, then using the stability theories of ZERO Moment Point, the characteristic of the dynamic stability of the human body was analyzed. Finally, the virtual prototype model in the ADAMS was built, and the walking model was simulated. By comparing the result, it was validated that the model＇s ZMP was stable. The feasibility of the virtual model＇s modeling and simulation in the ADAMS was illustrated.

关 键 词：人机结合 虚拟样机 零力矩点 稳定行走 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]