施柯丞, 黄瑞, 程洪, 邱静, 彭知南, 尹文泽. 下肢助行外骨骼机器人起坐动作下的生物力学分析[J]. 机器人, 2021, 43(4): 414-423. DOI: 10.13973/j.cnki.robot.200508
引用本文: 施柯丞, 黄瑞, 程洪, 邱静, 彭知南, 尹文泽. 下肢助行外骨骼机器人起坐动作下的生物力学分析[J]. 机器人, 2021, 43(4): 414-423. DOI: 10.13973/j.cnki.robot.200508
SHI Kecheng, HUANG Rui, CHENG Hong, QIU Jing, PENG Zhinan, YIN Wenze. Biomechanical Analysis on a Lower-limb Walking Assistance Exoskeleton in Sit-to-Stand Scenarios[J]. ROBOT, 2021, 43(4): 414-423. DOI: 10.13973/j.cnki.robot.200508
Citation: SHI Kecheng, HUANG Rui, CHENG Hong, QIU Jing, PENG Zhinan, YIN Wenze. Biomechanical Analysis on a Lower-limb Walking Assistance Exoskeleton in Sit-to-Stand Scenarios[J]. ROBOT, 2021, 43(4): 414-423. DOI: 10.13973/j.cnki.robot.200508

下肢助行外骨骼机器人起坐动作下的生物力学分析

Biomechanical Analysis on a Lower-limb Walking Assistance Exoskeleton in Sit-to-Stand Scenarios

  • 摘要: 探讨了下肢外骨骼起坐动作辅助过程中截瘫患者对拐杖产生大压力的原因和解决方法,通过建立人-外骨骼耦合动力学模型,将患者对拐杖的压力作为一个外力引入模型中,探究了踝关节刚度与拐杖压力的关系.为了验证踝关节刚度对减小拐杖压力的影响,设计了外骨骼起坐验证实验,通过调整AIDER下肢助行外骨骼系统踝关节的刚度,观察受试者在整个起坐动作过程中的平均能量损耗和鞋底压力中心位置变化.实验结果显示,调整踝关节刚度后受试者的平均能量损耗降低了45.18%,稳定性提高了34.99%,这表明适当的踝关节刚度可以在下肢助行外骨骼辅助的起坐动作过程中有效降低患者对拐杖的压力.

     

    Abstract: The causes and solutions of high crutch pressure generated by paraplegia patients in sit-to-stand (STS) movement with lower-limb exoskeleton assistance are studied. In order to explore the relationship between ankle stiffness and crutch pressure, a human-exoskeleton coupled dynamic model is established, and the crutch pressure is introduced as an external force. An exoskeleton STS movement verification experiment is designed to verify the importance of ankle stiffness for reducing crutch pressure. By adjusting the ankle stiffness of a walking assistance exoskeleton named "AIDER", the subjects' average loss energy and the changes of the sole pressure center during the entire STS movement are observed. The results show that the subjects' average loss energy is reduced by 45.18% and the stability is improved by 34.99% after adjusting the ankle stiffness. It is verified that a proper ankle stiffness can effectively reduce the subject's pressure on crutches during STS movement assisted by the lower-limb walking assistance exoskeleton.

     

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