步态矫形器动力学建模和仿真验证  

Dynamics modeling and simulation and verification for powered gait orthosis

作　　者：谷彦东[1] 钱晋武[1] 沈林勇[1] 章亚男[1] 

机构地区：[1]上海大学机电工程与自动化学院智能机械与系统实验室,上海200072

出　　处：《机械设计》2013年第1期40-44,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50975165);上海市学科带头人计划资助项目(10XD1401900);上海市高校创新团队资助项目

摘　　要：为了进行下肢康复机器人患者主动控制技术的研究,建立了步态矫形器的动力学建模。首先采用分割建模的思想,利用拉格朗日方程法建立步态矫形器在跑步机上的单腿动力学模型。然后从系统整体出发分析双腿耦合的解决方法。最后在ADAMS-MATLAB虚拟样机仿真平台上进行步态矫形器步行仿真实验,验证了所建立的动力学模型的准确性。Dynamics modeling for a powered gait orthosis used for gait training is investigated. Firstly, a dynamic model of the powered gait orthosis walking on the treadmill is established based on the Lagrange＇s equations of the second kind and the idea of segmentation modeling. Secondly, constraint equations are built based on overall robot system to solve the problem of legs coupling. Finally, the simulations on the virtual prototype are carried out in a collaborative simulation platform integrating ADAMS and MATLAB. The accuracy of the established dynamic model of the powered gait orthosis is verified.

关 键 词：下肢康复机器人 动力学建模 运动仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]