人体髋关节助力外骨骼的设计  

Design on Walking Assist Exoskeleton for Hip Joint

作　　者：刘刚[1] 黄新燕[1] 朱丽[1] 王洪成[2] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]南京航空航天大学仿生结构与材料防护研究所,江苏南京210016

出　　处：《机床与液压》2016年第3期1-4,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51175268,11102090);中国博士后科学基金资助项目(2014M551584)

摘　　要：针对半被动式助力外骨骼系统目前普遍存在的驱动机构结构复杂、控制方案繁琐的问题。根据人体髋关节运动生物力学数据,分析了人体行走过程中髋关节角度-力矩的关系特征,并据此设计了一种新型被动式外骨骼驱动机构。利用ADAMS仿真平台对虚拟样机进行了仿真实验,验证了被动式驱动系统设计方案的可行性。最后对样机进行了测试实验,结果表明:该外骨骼助力器能够实现日常运动中的助力功能。Aimed at the problems at present,the quasi-passive exoskeleton's mechanical structure is usually complex,and its control scheme is intricate. According to the data of human hip joint's biomechanics,the relation trait between hip joint's moment and hip joint's angle was found,and a new type of hip exoskeleton's passive drive unit was designed based on this trait. The simulation experiment was implemented on the virtual prototype with ADAMS simulation platform,which verified the feasibility of the design scheme. Finally,the prototype was tested. The result shows that this walking assist exoskeleton can realize the actuation function in daily exercise.

关 键 词：机构设计 外骨骼 弹簧储能 驱动系统 

分 类 号：TH132[机械工程—机械制造及自动化]