下肢助力外骨骼的动力学分析及仿真  

Dynamic Analysis and Simulation of Lower Limb Power-assisted Exoskeleton

作　　者：韩亚丽[1] 王兴松[2] 

机构地区：[1]南京工程学院,南京211167 [2]东南大学,南京211189

出　　处：《系统仿真学报》2013年第1期61-67,73,共8页Journal of System Simulation

基　　金：南京工程学院引进人才科研启动基金(YKJ201102)

摘　　要：下肢助力外骨骼是一种形似人体腿部结构,并联与穿戴者下肢外部,对穿戴者进行行走助力的机构。针对下肢助力外骨骼的行走特点,把其行走步态周期内的运动分成:单脚支撑、双脚支撑和一脚虚触地的双脚支撑三种行走模式,分别对此三种行走模式进行研究。构建动力学模型,求出各关节力矩,并通过仿真,验证其理论分析的正确性。下肢助力外骨骼的动力学研究为控制系统提供重要的理论依据,除外此研究结果也为仿人机器人的行走动力学研究提供重要的参考依据。The lower limb power-assisted exoskeleton is a machine which seems like the human leg. It parallels with the wearer＇s leg, and assists the walking. In accordance with the walking characteristic of lower limb exoskeleton, the walking during a gait cycle was divided into three motion patterns： single support, double support, double support with one redundancy. The dynamic models for three motion patterns were built, and the joint torques are obtained. The simulation results show that the theoretical computation results agree with the simulation results. The dynamics study of power-assisted exoskeleton during different walking modes can provide some important bases for control system, at the same time, this study will orovide a theoretical foundation for the dynamic studv of humanoid robot.

关 键 词：下肢助力外骨骼 行走模式 动力学 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]