足踝步态模拟机运动学和动力学分析  

A Study on the Mechanical Design and Kinematic Analysis of a Foot & Ankle Gait Simulator

作　　者：冯洋[1] 王冬梅[1] 刘安民 王旭[3] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]英国Salford大学康复与体能科学研究中心 [3]复旦大学附属华山医院骨科,上海200040

出　　处：《机械设计与研究》2016年第2期46-50,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(81071234)

摘　　要：研究足踝步态模拟机运动学和动力学,为试验台运动驱动提供理论依据,验证试验台的仿真能力。设计了一种五自由度的步态模拟机,建立了Adams虚拟样机和足踝模型,并对其进行运动学和动力学仿真,与活体实验数据比对了足踝运动特性曲线、胫骨轴在矢状面的旋转特性曲线及着地相进程中的足底反力。根据仿真中控制规律,对实验台进行了运动学和动力学验证。结果表明,模拟机的踝关节位移模拟结果曲线与活体实验测量结果曲线吻合良好,最大误差低于5%;同时能够较精确模拟人体胫骨轴旋转运动趋势;足底反力与活体测量数据较为吻合;试验台重复良好特性。In order to obtain the detailed kinematic and dynamic parameters of bone segments and joints of the foot and ankle system which can＇t be measured in in-vivo experiment,the human cadaveric foot ankle system should be driven to walk like the living one. To pursue this goal,a 5 DOF gait simulator was developed to use cadaver limbs to mimic normal kinetics and kinematics of the tibia,foot,and ankle during the stance phase of gait from heel-strike to toe-off. Using the control of motor in Adams,the model was driven to simulate a stance phase of the normal gait and analyse the kinematic performances. The analyzed results showed that the movement of ankle center in this model could more accurately simulate the normal in-vivo ankle position curves during a stance phase and the maximum error was less than 5%. The comparison and analysis result indicated that the foot and ankle simulator could be used to simulate the stance phase of gait.

关 键 词：人体足踝 运动学仿真 动力学仿真 步态模拟机 

分 类 号：TH124[机械工程—机械设计及理论]