基于人体动力分析的跑步助力外骨骼研究  

Research on Running A ssisted Exoskeleton Based on Human Dynamic Analysis

作　　者：陈贵亮[1] 蔡超 杨冬[1] CHEN Guiliang;CAI Chao;YANG Dong(College of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《机械设计与研究》2024年第3期209-215,共7页Machine Design And Research

基　　金：国家自然科学基金资助项目(U1813222);河北省重点研发计划项目(19211816D)。

摘　　要：该研究设计了一款辅助人体跑步的下肢助力外骨骼。结合VICON系统和ANYBODY软件分析得出五名健康男子跑步过程腿部各肌肉参数,确定在髋关节矢状面上进行助力。使用Hill模型简化肌肉-肌腱单元;提出弹性外肌腱结合Hill模型驱动外骨骼方案,形成人机耦合模型。相关参数进行量化分析得到其函数关系,改变助力曲线逆向求解肌肉参数及能量消耗。采用粒子群优化算法得出外肌腱的最佳刚度系数及外骨骼设计参数。实验证明穿戴后代谢能消耗减少11.78±1.04%。This study designs a lower limb exoskeleton to assist human running.Combining VICON system and ANYBODY software,the parameters of leg muscles of five healthy men during running are obtained,and the assistance is determined on the Sagittal plane of the hip join.The muscle-tendon unit is simplified into a Hill model.A scheme is proposed where elastic external tendons are combined with the Hill model to drive the exoskeleton,thereby establishing a human-machine coupling model.Quantitative analysis of the parameters is performed to derive their functional relation.The muscle parameters and metabolic consumption are inversely solved by changing the assistance curve.The particle swarm optimization algorithm is employed to determine the optimal stiffness coefficient of the external tendon and the design parameters of the exoskeleton.Experimental results demonstrate that the metabolic energy consumption is reduced by 11.78±1.04%.

关 键 词：被动外骨骼 动力学建模 肌骨系统 Hill肌肉模型 弹性外肌腱 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]