被动式储能助力下肢外骨骼系统设计与仿真分析  

Design and Simulation Analysis of a Passive Energy Storage Assisted Lower Limb Exoskeleton System

作　　者：马建峰[1] 马卿林 孙得成 丁永清 骆岱鹤 陈晓 MA Jianfeng;MA Qinglin;SUN Decheng;DING Yongqing;LUO Daihe;CHEN Xiao(Faculty of Materials and Manufacturing,Beijing University of Technology,Beijing 100124,China;Military Supply Engineering Technology Research Institute of the Academy of Military Sciences,Beijing 100082,China)

机构地区：[1]北京工业大学材料与制造学部,北京100124 [2]军事科学院系统工程研究院军需工程技术研究所,北京100082

出　　处：《北京工业大学学报》2024年第3期261-270,共10页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(52075008)。

摘　　要：为了达到缓解人体行走时的关节压力、减轻关节负担和辅助人体行走的目的,基于人体行走原理提出了髋膝耦合被动式储能助力外骨骼设计方案。髋膝耦合机构用于实现膝关节的离散化助力,是以髋关节运动控制膝关节助力的离合控制方法。该文运用仿真和实验验证的方法验证了该外骨骼的有效性。运用Adams对人-机模型进行联合仿真,验证外骨骼对人体助力的理论效果。在实际穿戴实验中,通过对比是否穿戴外骨骼人体运动时的能耗来验证外骨骼的真实有效性。对比仿真与穿戴实验数据证明该外骨骼能够降低12%~13%的人体运动能耗。To achieve the purpose of relieving the joints pressure of human walking,reducing the joint burden and assisting human walking,this paper proposed a hip-knee coupling passive energy storage assistance exoskeleton design scheme based on the principle of human walking.The hip-knee coupling mechanism was used to achieve discrete knee joint assistance,which was a clutch control method to control knee joint assistance by hip joint motion.In this paper,the effectiveness of this exoskeleton was verified using simulation and experimental validation methods.First,a joint simulation of the human-machine model using Adams was used to verify the theoretical effect of the exoskeleton on the human body assistance.In the actual wearing experiment,the real effectiveness of the exoskeleton was verified by comparing the energy consumption during human movement with and without the exoskeleton.By comparing the simulated and wearing experimental data,it is approved that the exoskeleton can reduce the energy consumption of human movement by 12%-13%.

关 键 词：被动式 髋膝耦合 储能 外骨骼 ADAMS仿真 人体耗能测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]