可穿戴膝关节外骨骼结构设计与运动分析  

Structural Design and Motion Analysis of the Wearable Knee Joint Exoskeleton

作　　者：李静[1] 周建军[1] 赵轶钦 温志烨 

机构地区：[1]杭州电子科技大学机械电子工程研究所,浙江杭州310018

出　　处：《机械传动》2017年第8期114-117,共4页Journal of Mechanical Transmission

基　　金：工业控制技术国家重点实验室开放课题(ICT1600283);浙江省大学生科技创新活动计划(新苗人才计划)(2015R407003)

摘　　要：机械外骨骼是模仿生物界外骨骼研发的一种新型机电装置。设计了一款可穿戴式柔性膝关节外骨骼,采用人体下肢5杆简化模型进行运动学和动力学分析。通过Matlab/Simulink仿真分析,所得的膝关节角度变化曲线与CGA标准曲线基本一致,验证了数学模型的正确性;通过ADAMS动态仿真,模型能正常行走,验证了驱动函数的正确性,所得的膝关节力矩变化曲线,为后面的控制做准备。研制了相关样机,通过穿外骨骼和不穿外骨骼进行对比试验,观察膝关节角度的变化情况,验证该机构的合理性。The mechanical exoskeleton is a kind of new electromechanical device that imitates the biological exoskeleton. A wearable flexible knee joint exoskeleton is designed, and the kinematics and dynamics analysis of the lower limb is carried out through using the human body 5 bar simplified model. The angle change curve of the knee joint is consistent with the CGA database through the Matlab/Simulink simulation and the correctness of mathematical model is verified. The lower limb exoskeleton can walk normally through the dynamic simulation of ADAMS, the correctness of the driving function of the knee joint is verified and the torque curve of knee joint is prepared for the control. Finally, the physical prototype is developed and the rationality of the exoskeleton is proved through the angle change curve of the knee joint in the contrast experiment of wear or not - wear exoskeleton.

关 键 词：外骨骼 可穿戴 柔性 膝关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]