韩亚丽, 贾山, 王兴松. 基于人体生物力学的低功耗踝关节假肢的设计与仿真[J]. 机器人, 2013, 35(3): 276-282. DOI: 10.3724/SP.J.1218.2013.00276
引用本文: 韩亚丽, 贾山, 王兴松. 基于人体生物力学的低功耗踝关节假肢的设计与仿真[J]. 机器人, 2013, 35(3): 276-282. DOI: 10.3724/SP.J.1218.2013.00276
HAN Yali, JIA Shan, WANG Xingsong. Design and Simulation of an Ankle Prosthesis with Lower Power Based on Human Biomechanics[J]. ROBOT, 2013, 35(3): 276-282. DOI: 10.3724/SP.J.1218.2013.00276
Citation: HAN Yali, JIA Shan, WANG Xingsong. Design and Simulation of an Ankle Prosthesis with Lower Power Based on Human Biomechanics[J]. ROBOT, 2013, 35(3): 276-282. DOI: 10.3724/SP.J.1218.2013.00276

基于人体生物力学的低功耗踝关节假肢的设计与仿真

Design and Simulation of an Ankle Prosthesis with Lower Power Based on Human Biomechanics

  • 摘要: 根据对人体踝关节运动生物力学的研究结果,设计了一种新型的主、被动相结合的低功耗的踝关节假肢.通过对人体行走过程中踝关节角度-力矩变化关系的特征分析、 运动关系的理想化及运动过程的分解,把人体平地慢速行走运动分为触地缓冲跖屈、身体前移背屈、蹬地前行跖屈及摆动4个阶段的运动过程, 采用串联弹性驱动器系统及并联弹簧模拟此运动过程,并进行由串联弹性驱动器系统、并联弹簧机构等组成的踝关节假肢的机构设计. 在建立的SolidWorks、ADAMS虚拟样机联合仿真平台上进行了踝关节假肢的运动仿真,结果表明,该踝关节假肢能够实现预期的运动轨迹,验证了机构设计的合理性.

     

    Abstract: A new type of ankle prosthesis with lower power combining active and passive actuators is designed based on the research results of human ankle joint biomechanics. The human motion during level walking with slow speed is divided into four phases by analyzing the relation of ankle joint torque versus angle, the idealization and decomposition of walking movement, which are the plantarflexion after heel-strike buffering, the dorsiflexion during body forward, the plantarflexion during pushing off ground and swing. A series elastic actuator system and a parallel spring are used to produce walking motion, and the ankle prosthesis is designed with a series elastic actuator and parallel spring. The motion simulation of ankle prosthesis is implemented with SolidWorks and ADAMS softwares. The results show that the ankle prosthesis can realize the expected movement trajectory, which verifies the correctness of the design.

     

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