Study on Ankle Movement Model based on Fourier Series

Han Jikai; Luo Yufeng; Shi Zhixin; Xie Dongfu; Liu Zhenkun

doi:10.16578/j.issn.1004.2539.2018.08.019

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Study on Ankle Movement Model based on Fourier Series

更新时间：2022-10-20

- Study on Ankle Movement Model based on Fourier Series
- Vol. 42, Issue 8, Pages: 98-103(2018)
- 作者机构：
  
  1. 南昌大学机电工程学院
  2. 华东交通大学
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.08.019
  CLC：
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[1]韩继凯,罗玉峰,石志新,谢冬福,刘振坤.基于傅里叶级数的踝关节运动模型研究[J].机械传动,2018,42(08):98-103.

Han Jikai, Luo Yufeng, Shi Zhixin, et al. Study on Ankle Movement Model based on Fourier Series. [J]. 42(8):98-103(2018)
[1]韩继凯,罗玉峰,石志新,谢冬福,刘振坤.基于傅里叶级数的踝关节运动模型研究[J].机械传动,2018,42(08):98-103. DOI： 10.16578/j.issn.1004.2539.2018.08.019.

Han Jikai, Luo Yufeng, Shi Zhixin, et al. Study on Ankle Movement Model based on Fourier Series. [J]. 42(8):98-103(2018) DOI： 10.16578/j.issn.1004.2539.2018.08.019.

摘要

对人体下肢运动模型的研究是外骨骼机器人驱动和控制系统的核心内容之一,针对利用分段函数拟合踝关节运动模型时存在拟合过程复杂、模型高阶求导之后不连续等缺点,采用傅里叶级数拟合法建立踝关节在矢状面内平地行走运动模型,通过该方法获得的踝关节运动模型具有简洁、准确、无冲击等特点,而且该运动模型还具有高阶连续性和可导性。最后,通过实验验证该模型可以描述健康人体平地常速行走时踝关节运动特征;同时通过ADAMAS进行运动仿真,验证其用于外骨骼机器人的踝关节驱动的正确性。该运动模型研究为研究健康人体正常行走时踝关节运动特征提供了重要的理论依据,并为外骨骼机器人踝关节的驱动和控制提供了参考模型。

Abstract

The study of the lower limb movement model of the human body is one of the core contents of the exoskeleton robot driving and control system. Aiming at the shortcomings of complicated fitting process,discontinuity after high order derivation of the model and so on in the fitting process of ankle joint motion model by using piecewise function,the Fourier series method is used to establish the model of the horizontal movement of the ankle joint in the sagittal plane,and the motion model of the ankle joint in the sagittal plane is established by using the polynomial fitting process,it has a simple,accurate,non-impact characteristics by the ankle articulation model obtained by the method,and the model is continuity and the conductivity. Finally,the model can be used to demonstrate the characteristics of the ankle movement in healthy people,at the same time,motion simulation is performed by ADAMAS to verify the correctness of the ankle driver used in exoskeleton robots. The study of the lower limb ankle movement model of the human body provides an important theoretical basis for studying the characteristics of the ankle movement in healthy subjects during normal walking,and provides a reference model for the driving and control of the ankle joint of the exoskeleton.

关键词

踝关节冲击傅里叶级数数学模型仿真

Keywords

Ankle jointImpactFourier seriesMathematical modelSimulation

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