无动力髋关节助力外骨骼设计与分析  

Design and Analysis of Non-dynamic Hip Joint Assisted Exoskeletons

作　　者：杨洁 王旭鹏 唐欣尧[2] 张文洁 Yang Jie;Wang Xupeng;Tang Xinyao;Zhang Wenjie(School of Art and Design,Xi'an University of Technology,Xi'an 710054,China;School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China)

机构地区：[1]西安理工大学艺术与设计学院,陕西西安710054 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械传动》2024年第8期70-81,共12页Journal of Mechanical Transmission

基　　金：装备预研共用技术和领域基金项目(106-418321001);教育部青年基金项目(21XJ760003)。

摘　　要：为了提高现有助力外骨骼人机协同性,基于人体运动步态试验数据采集,建立人体下肢逆运动学、逆动力学模型,分析了髋关节行走时的角度、力矩、动势能等参数;根据相关参数分析,进行储能元件选型和设计,提出了一种储能元件为变刚度弹簧的无动力髋关节助力外骨骼;利用Adams开展了人机耦合模拟试验,验证了所设计外骨骼的人机协同性。模拟结果表明,所设计的无动力髋关节助力外骨骼具有较好的人机协同性。之后,进行外骨骼实物加工,开展了外骨骼穿戴试验。试验结果表明,穿戴外骨骼后,髋关节力矩在步态周期内平均减少5.6%,做功平均减少6.25%。以此证明,无动力髋关节助力外骨骼对人体行走有积极的助力效果。To improve the human-machine coordination of existing assistive exoskeletons,this study uti⁃lizes experimental data collection of human lower limb motion to establish inverse kinematic and inverse dynam⁃ic models.Analysis is conducted on parameters such as angles,torques,and kinetic energy of the hip joint dur⁃ing walking.Based on these parameters,a variable stiffness spring-based energy storage element is proposed and designed for the passive hip joint assistive exoskeleton.Human-machine coupling simulations are carried out using Adams software to validate the designed exoskeleton's coordination with human movements.The simu⁃lation results indicate that the designed passive hip joint assistive exoskeleton demonstrates favorable human-machine coordination.Subsequently,the physical prototype of the exoskeleton is fabricated,and a wearable ex⁃periment is conducted.The experimental results show an average reduction of 5.6%in hip joint torque and 6.25%in work done during the gait cycle with the exoskeleton.This confirms the positive assistance effect of the passive hip joint assistive exoskeleton on the human walking.

关 键 词：髋关节助力外骨骼 变刚度弹簧 逆运动学 逆动力学 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]