下肢穿戴式助行器步态规划与稳定性分析  

Gait Planning and Stability Analysis of Lower Limb Wearable Walkers

作　　者：王新 鄢沛峰 Wang Xin;Yan Peifeng(Qinggong College,North China University of Science and Technology,Tangshan 063000,China;College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China)

机构地区：[1]华北理工大学轻工学院,河北唐山063000 [2]华北理工大学机械工程学院,河北唐山063210

出　　处：《机械传动》2023年第12期82-88,共7页Journal of Mechanical Transmission

摘　　要：偏瘫患者由于大脑损伤导致一侧下肢运动障碍,无法自主进行日常行走,下肢穿戴式助行器可以辅助其获得行走的能力;但是,想要和普通人一样走出正常的步态,需要对下肢穿戴式助行器进行步态规划,步态规划是人机耦合行走并保持稳定性的基础和关键。首先,分析人体下肢各关节运动的情况,对下肢穿戴式助行器进行整体机构设计。其次,进行了步态规划,将助行器腿部各关节之间的部分看成均质刚性连杆,提取完整步行周期中各关节的9个特殊时间点,分析了各个时间点关节的坐标与角度;结合Matlab软件中的三次样条插值的方法,仿真出关节的运动轨迹。最后,对步态规划数据进行分析,得到重心投影点坐标,拟合出重心投影点的运动轨迹,并对该轨迹是否始终落在支撑区域进行了分析。结果证明,重心投影点始终处于支撑域内,这说明该步态规划符合稳定性要求。The hemiplegic patients can't walk on their own due to the movement obstacle of one side of the lower limb caused by brain injury.The lower limb wearable walker can help them get the ability to walk,but if they want to walk out the normal gait like ordinary people,the gait planning of the lower limb wearable walker is necessary.Gait planning is the basis and key for man-machine coupling walking and maintaining stability.Firstly,through the analysis of the movement of each joint of the lower limb,the overall mechanism of the lower limb wearable walker is designed.Secondly the gait planning is carried out.The part between the joints of the leg of the walker is regarded as a homogeneous rigid link,nine special time points of each joint in the complete walking cycle are extracted,and the coordinates and angles of the joints at each time point are analyzed.Com-bined with the cubic spline interpolation method in Matlab software,the motion track of the joints is simulated.Finally,the gait planning data is analyzed to obtain the coordinates of the barycenter projection point,fit the mo-tion track of the barycenter projection point,and analyze whether the track always falls in the support area.The results prove that the barycenter projection point is always in the supporting area,which indicates that the gait planning meets the stability requirements.

关 键 词：下肢穿戴式助行器 机构设计 步态规划 三次样条插值 稳定性 重心投影点 支撑域 

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]