基于人体特殊步态分析的下肢外骨骼机构设计

doi:10.13973/j.cnki.robot.2014.0392

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引用本文:
贾山, 韩亚丽, 路新亮, 徐旭, 王兴松. 基于人体特殊步态分析的下肢外骨骼机构设计[J]. 机器人, 2014, 36(4): 392-401,410.DOI: 10.13973/j.cnki.robot.2014.0392. JIA Shan, HAN Yali, LU Xingliang, XU Xu, WANG Xingsong. Design of Lower Extremity Exoskeleton Based on Analysis on Special Human Gaits. ROBOT, 2014, 36(4): 392-401,410. DOI: 10.13973/j.cnki.robot.2014.0392.

摘要

为使所设计的下肢外骨骼机构适用于各种常见步态，通过分析非平衡性、强直性、短肢性、不同步速、不同负重等5种常见特殊步态以及正常步态的实验数据，对下肢外骨骼机构各关节进行了集成液压套索驱动系统配置与优化，并完成了下肢外骨骼机构动力学模型的建立与计算．驱动系统的配置使下肢外骨骼机构各关节满足在各种常见步态下的运动学与动力学特征，优化则在保证驱动效率的基础上最大程度降低了液压缸的工作速度，利于其控制．动力学计算得出了当最快步速不低于1.3m/s时，下肢外骨骼机构各关节驱动系统所应具备的扭矩与功率等动力学参数．所设计的下肢外骨骼机构满足各常见步态的运动学与动力学性能要求．

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关键词 ：下肢外骨骼, 特殊步态, 运动学特征, 动力学特征, 驱动系统配置, 动力学分析

Abstract：

In order to design a lower extremity exoskeleton suitable for various common gaits, experiment data of normal gait and 5 common special gaits, including unbalanced, ankylosing, short-limbed gaits, as well as gaits at different walking speeds, and gaits under different loads, are analyzed. On that basis, the integrated hydraulic cylinder-tendon sheath drive systems are configured and optimized for each joint of the lower extremity exoskeleton. Then, the dynamic model of the exoskeleton is established and analyzed. The configuration of drive systems enables each exoskeleton joint to meet the kinematic and dynamic characteristics in various common gaits, and the optimization reduces the maximum working speed of each hydraulic cylinder as far as possible on the premise of guaranteeing the drive efficiency. Finally, The performance parameters of the drive system of each exoskeleton joint, such as torque and power, are obtained via dynamics analysis in case that the maximum walking speed isn' tless than 1.3m/s. The designed exoskeleton satisfies the kinematic and dynamic requirements of various common gaits.

Key words： lower extremity exoskeleton special gait kinematic characteristics dynamic characteristics drive system configuration dynamics analysis

收稿日期: 2013-10-08 录用日期: 2014-07-03

TP242.3

基金资助:

江苏省普通高校研究生科研创新计划资助项目（CX10B-063Z，CXZZ_0140）；国家自然科学基金青年基金资助项目（51205182）；江苏省自然科学基金青年基金资助项目（BK2012474）

通讯作者: 王兴松，xswang@seu.edu.cn E-mail: xswang@seu.edu.cn

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0392 或 https://robot.sia.cn/CN/Y2014/V36/I4/392

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