下肢战伤康复轮足外骨骼设计与步态试验  

Design and gait experiment of a lower extremity warfare rehabilitation wheel-foot exoskeleton

作　　者：李仲[1] 李恒飞 管小荣[1] 谢大帅 李定哲 许国强 LI Zhong;LI Hengfei;GUAN Xiaorong;XIE Dashuai;LI Dingzhe;XU Guoqiang(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;No.208 Research Institute of China Ordnance Industries,Beijing 102202,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]中国兵器工业第二〇八所,北京102202

出　　处：《兵器装备工程学报》2024年第9期182-189,共8页Journal of Ordnance Equipment Engineering

基　　金：装备发展部预先研究项目(145AZB070002000X-0305)。

摘　　要：针对脑部和脊柱战伤士兵的术后康复训练、战时转移、生活代步需求,设计了一种下肢战伤康复轮足外骨骼,通过共用结构和驱动系统进行不同的组装来实现不同工作模式,提高装备的集成度和减轻整体质量;建立轮足外骨骼单腿摆动期的二连杆模型并推导其动力学模型;利用动力学模型和轮足外骨骼的虚拟样机模型分别获得髋、膝关节的理论计算和虚拟仿真力矩;建立基于位置阻抗的轮足外骨骼主动康复训练控制策略,搭建轮足外骨骼实物样机,获得样机的关节运动轨迹与人机交互力。理论计算、虚拟仿真及摆动腿试验测试3种方法的关节力矩曲线走势基本一致,说明理论计算和虚拟仿真模型的正确性;基于步态试验所获得的数据表明其轨迹误差和交互力均较小,满足设计要求,验证了轮足外骨骼设计的合理性与可行性。A lower extremity warfare rehabilitation wheel-foot exoskeleton was designed to meet the requirements of post-operative rehabilitation training,wartime transfer,and daily walking for soldiers with brain and spinal injuries.It can realize different working modes through different forms of assembly using the shared structures and drive systems,thus the integration this exoskeleton was improved and the overall quality was reduced.The two-link model of the single leg swing phase of the wheel-foot exoskeleton was established and its dynamic model was derived.The theoretical calculation and virtual simulation torque of hip and knee joints were calculated through the dynamic model and virtual prototype model of the exoskeleton.An active rehabilitation training control strategy based on position impedance control for the wheel-foot exoskeleton was established,and a physical prototype of the wheel-foot exoskeleton was developed to obtain the joint trajectory and human-exoskeleton interaction force.The curve trend of the joint torque of the swing leg based on the theoretical calculation,virtual simulation,and experimental testing is similar,indicating the correctness of the theoretical calculation and virtual simulation models.The data obtained from the gait experiment showed that the trajectory error and interaction force were both small,which meets the design requirements,that is,the wheel-foot exoskeleton is rational and feasibly.

关 键 词：轮足外骨骼 结构设计 动力学计算 仿真分析 阻抗控制 

分 类 号：TH122[机械工程—机械设计及理论] TP242.3[自动化与计算机技术—检测技术与自动化装置]