穿戴式下肢外骨骼设计与运动学分析  

Design and Kinematics Analysis of the Wearable Lower Limb Exoskeleton

作　　者：王晓伟[1] 陈旭 高胜鲁 Wang Xiaowei;Chen Xu;Gao Shenglu(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China)

机构地区：[1]山东建筑大学机电工程学院,山东济南250101

出　　处：《机械传动》2023年第12期69-74,共6页Journal of Mechanical Transmission

摘　　要：随着下肢功能障碍者在人口中所占比例逐年增长,以物理辅助治疗为主要形式的下肢外骨骼成为康复领域的研究热点之一。提出了一种穿戴式下肢外骨骼样机模型并对其运动性能进行了分析。首先,建立了人体下肢与外骨骼的运动机制对应关系;其次,应用标准D-H法构建外骨骼运动学数学模型,通过齐次变换矩阵进行正、逆运动学解算,并检验了模型及解算方程的正确性;最后,基于人体下肢步态特征对人机耦合模型进行了仿真,曲线拟合优度表明,外骨骼运行平稳,且具有较好的兼容性和跟随性能。获得的各关节曲线数据为下肢外骨骼控制策略的制定提供了数据基础。With the increasing proportion of people with lower limb dysfunction in the population,lower limb exoskeleton,mainly in the form of physical assisted therapy,has become a research hotspot in the field of rehabilitation.In this study,a wearable lower limb exoskeleton prototype model is proposed and its motion performance is studied.Firstly,the corresponding relation between human lower limbs and exoskeleton is established.Secondly,the standard D-H method is used to build the exoskeleton kinematics mathematical model,the forward and inverse kinematics is solved through the homogeneous transformation matrix,and the correctness of the model and the solving equation is verified.Finally,the man-machine coupling model is simulated based on the gait characteristics of human lower limbs.The goodness of curve fitting shows that the exoskeleton runs smoothly,and has good compatibility and tracking performance.The joint curve data provides the data basis for the formulation of the control strategy of the lower limb exoskeleton.

关 键 词：下肢外骨骼 结构设计 运动学解算 人机耦合 拟合优度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH789[自动化与计算机技术—控制科学与工程]