Design and Dynamics Research of Exoskeleton based on Flexible Knee Joint

Qiao Xueyu Zhao Yanjun Li Zhao Jia Bingqi Chen Miao

doi:10.16578/j.issn.1004.2539.2019.12.015

您当前的位置：

首页 >

文章列表页 >

Design and Dynamics Research of Exoskeleton based on Flexible Knee Joint

Design· Calculation | 更新时间：2022-10-25

- Design and Dynamics Research of Exoskeleton based on Flexible Knee Joint
- Journal of Mechanical Transmission Vol. 43, Issue 12, Pages: 84-88(2019)
- 作者机构：
  
  1.山东理工大学机械工程学院，山东淄博 255049
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.12.015
  CLC：
扫描看全文
乔学昱,赵彦峻,厉朝等.基于柔性膝关节的外骨骼设计与动力学研究[J].机械传动,2019,43(12):84-88.

Qiao Xueyu Zhao Yanjun Li Zhao Jia Bingqi Chen Miao.Design and Dynamics Research of Exoskeleton based on Flexible Knee Joint[J].Journal of Mechanical Transmission,2019,43(12):84-88.
乔学昱,赵彦峻,厉朝等.基于柔性膝关节的外骨骼设计与动力学研究[J].机械传动,2019,43(12):84-88. DOI： 10.16578/j.issn.1004.2539.2019.12.015.

Qiao Xueyu Zhao Yanjun Li Zhao Jia Bingqi Chen Miao.Design and Dynamics Research of Exoskeleton based on Flexible Knee Joint[J].Journal of Mechanical Transmission,2019,43(12):84-88. DOI： 10.16578/j.issn.1004.2539.2019.12.015.

摘要

为了兼顾外骨骼动力的线性输出与穿戴过程的安全性，设计了一款包含助力与缓冲两种工作模式的下肢外骨骼。首先，对外骨骼膝关节缓冲器及整机模型进行了参数计算与结构设计；然后，对其做动力学分析并通过Matlab计算得到关节理论力矩；将计算所得参数与理论力矩分别代入Adams，对两种工作模式下的外骨骼进行仿真试验；通过对比仿真结果与人体运动标准数据，证明外骨骼助力模式可基本满足穿戴者正常行走需要，缓冲模式可在突发状况下缓冲刚性冲击。研究结果为后期系统的控制与模型制造提供了重要的理论依据。

Abstract

In order to balance the linear output of the exoskeleton power and the safety in the wearing process, a wearable flexible knee joint exoskeleton with two working modes of power assist and buffering is designed. Firstly, the parameter calculation and structural design of the knee bumper and whole machine model of the exoskeleton are carried out. Then, the dynamics analysis of the joint is carried out and the theoretical moment of the joint is calculated by Matlab. Finally, the calculated parameters and theoretical moments are substituted into Adams to simulate the exoskeleton under the two working modes. By comparing the simulation results with the human motion standard data, it is proved that the exoskeleton assist mode can basically meet the wearer's normal walking needs, and the buffer mode can buffer the rigid impact under sudden conditions. An important theoretical basis for the subsequent system control and prototype manufacturing is provided.

关键词

柔性膝关节缓冲器动力学分析仿真试验

Keywords

Flexible knee jointBumperDynamics analysisSimulation test

references

夏田，桓茜，陈宇，等.下肢外骨骼康复机器人设计及其运动学分析[J].华侨大学学报（自然科学版），2017，38（4）:452-456.

赵彦峻，徐诚，张景柱，等.人体下肢外骨骼关键技术分析与研究[J].机械设计，2008（10）:1-5.

ROBERT B.Exoskeletons and robotic prosthetics:a review of recent developments[J].Industrial Robot:An International Journal，2009，36（5）:421-427.

LEE S，SANKAI Y.Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint[C].IEEE/RSJ International Conference on Intelligent Robots and Systems，Switzerland.New York：IEEE，2002:1499-1504.

KIM H，MILLER L M，BYL N，et al.Redundancy resolution of the human arm and an upper limb exoskeleton[J].IEEE Transactions on Biomedical Engineering，2012，59（6）:1770-1779.

史小华，王洪波，孙利，等.外骨骼型下肢康复机器人结构设计与动力学分析[J].机械工程学报，2014，50（3）:41-48.

李静，周建军，赵轶钦，等.可穿戴膝关节外骨骼结构设计与运动分析[J].机械传动，2017，41（8）:114-117.

刘健，郑建荣，吴青.基于ADAMS的人体膝关节运动力学研究[J].计算机应用与软件，2012，29（6）:202-204.

王秋惠，魏玉坤，刘力蒙.康复机器人研究与应用进展[J].包装工程，2018，39（18）:83-89.

苗学源，钟晓勤，瞿志豪，等.一种弹簧变形与刚性位移组合的缓冲装置[J].机械设计，2016，33（1）:60-63.

刘小龙，赵彦峻，葛文庆，等.医疗助力下肢外骨骼设计及动力学仿真分析[J].工程设计学报，2016，23（4）:327-332.

全国人类工效学标准化技术委员会.成年人人体惯性参数：GB/T 17245—2004[S].北京：中国标准出版社，2004：5.

全国残疾人康复和专用设备标准化技术委员会.假肢和矫形器术语第1部分：正常步态:GB/T 30660.1—2014[S].北京：中国标准出版社，2014:12.

唐志勇，谭振中，裴忠才.下肢外骨骼机器人动力学分析与设计[J].系统仿真学报，2013，25（6）:1338-1344.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

⁰