人体穿戴髋关节助力外骨骼的行走运动学分析  

Kinematics Analysis of Human Body Wearing a Hip-Joint-Assisted Exoskeleton

作　　者：刘玉[1] 黄岩 周志浩[4] LIU Yu;HUANG Yan;ZHOU Zhihao(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081;Beijing Advanced Innovation Center for Intelligent Robotics and Systems,Beijing Institute of Technology,Beijing 100081;Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing 100081;Institute for Artificial Intelligence,Peking University,Beijing 100871)

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京理工大学智能机器人与系统高精尖创新中心,北京100081 [3]仿生机器人与系统教育部重点实验室,北京100081 [4]北京大学人工智能研究院,北京100871

出　　处：《北京大学学报（自然科学版）》2024年第3期422-430,共9页Acta Scientiarum Naturalium Universitatis Pekinensis

基　　金：国家自然科学基金(62073038);北京理工大学高层次人才研究基金资助。

摘　　要：针对现有下肢助力外骨骼研究中缺少对关节层面的运动学分析以及缺少对髋关节外骨骼助力机制的研究这一现状,对一款髋关节助力外骨骼在多种助力模式下的运动进行采集和分析,得到被试在不穿戴外骨骼、外骨骼零助力、外骨骼低助力、外骨骼中助力、外骨骼高助力和外骨骼阻力共6种模式下的运动数据,并通过逆运动学计算和数据分析,得到关节角度曲线和步态特征。实验结果在关节层面明确了髋关节外骨骼的助力机制,可为助力外骨骼的设计和运动控制提供参考。Faced with the problem that existing studies on lower-limb powered exoskeleton lack joint-level kinematics analysis and assistance principle of hip exoskeleton,motion of human body wearing a hip assisted exoskeleton with multiple assist modes was recorded and analyzed.Motion data of human walking without exoskeleton,with transparent,low assistance mode,middle assistance mode,high assistance mode and resistance mode were obtained.Based on inverse kinematics and data processing,joint angles and gait characteristics were obtain.These results are helpful in clarifying the assistance principle of the hip exoskeleton,and may benefit design and motion control of assisted exoskeletons.

关 键 词：下肢助力外骨骼 运动学分析 人体行走运动 步态特征 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R496[自动化与计算机技术—控制科学与工程]