基于复合摆线的下肢假肢步态规划及运动仿真  

Gait Planning and Motion Simulation of Lower Limb Prosthesis Based on Compound Cycloid

作　　者：刘旭辉 胡慧娜 简震 丁志娟 方紫韵 LIU Xu-hui;HU Hui-na;JIAN Zhen;DING Zhi-juan;FANG Zi-yun(School of Mechanical Engineering, Shanghai Institute of Technology, Shanghai 201418, China)

机构地区：[1]上海应用技术大学机械工程学院,上海201418

出　　处：《科学技术与工程》2021年第32期13691-13695,共5页Science Technology and Engineering

基　　金：国家自然科学基金(51675345);上海市科委生物医药科技支撑专项(20s31905500);上海市科委地方高校能力建设项目(20090503000)。

摘　　要：针对现有假肢产品步态质量不佳的问题,结合四连杆机构和磁流变(magnetorhedogical,MR)阻尼器设计了一种磁流变阻尼下肢假肢。基于复合摆线理论对下肢假肢进行了步态规划,并对所得轨迹曲线进行了优化。通过对轨迹曲线的逆运动学求解,得到了下肢假肢的膝关节和髋关节曲线。为验证关节曲线和下肢假肢结构设计的合理性,采用SolidWorks Motion对下肢假肢进行了运动仿真,并且利用关节电机进行轨迹跟随实验。结果表明:在关节曲线的驱动下,下肢假肢能够实现连续稳定的行走,具有良好的步态特性。In view of the poor gait quality of the existing prosthetic products,a kind of lower limb prosthesis with magnetorheological(MR)damper was designed by combining the four-bar mechanism and MR damper.Based on the compound cycloid theory,the gait planning of the lower limb prosthesis was carried out,and the trajectory curve obtained was optimized.By solving the inverse kinematics of the trajectory curve,the curve of knee joint and hip joint of the lower limb prosthesis was obtained.In order to verify the rationality of joint curve and lower limb prosthesis structure design,lower limb prosthesis was simulated with SolidWorks Motion,and used joint motor to conduct trajectory tracking experiment.The results show that the lower limb prosthesis can achieve continuous and stable walking,with good gait characteristics.

关 键 词：下肢假肢 复合摆线 步态规划 关节曲线 运动仿真 

分 类 号：TH122[机械工程—机械设计及理论]