Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data

Hailong Du; Ningning Hu

doi:10.16578/j.issn.1004.2539.2022.03.020

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Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data

Test·Analysis | 更新时间：2022-09-24

- Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data
- Journal of Mechanical Transmission Vol. 46, Issue 3, Pages: 128-134(2022)
- 作者机构：
  
  1.郑州西亚斯学院电子信息工程学院，河南郑州 451150
  2.上海大学机电工程与自动化学院，上海 200444
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.03.020
  CLC：
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杜海龙,胡宁宁.基于人体运动数据的下肢机器人运动学与动力学分析[J].机械传动,2022,46(03):128-134.

Du Hailong,Hu Ningning.Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data[J].Journal of Mechanical Transmission,2022,46(03):128-134.
杜海龙,胡宁宁.基于人体运动数据的下肢机器人运动学与动力学分析[J].机械传动,2022,46(03):128-134. DOI： 10.16578/j.issn.1004.2539.2022.03.020.

Du Hailong,Hu Ningning.Kinematics and Dynamics Analysis of Lower Limb Robot based on Human Motion Data[J].Journal of Mechanical Transmission,2022,46(03):128-134. DOI： 10.16578/j.issn.1004.2539.2022.03.020.

摘要

针对有下肢运动障碍的患者，机器人系统与生物医学系统的结合为广大患者带来了福音，通过医学角度对人体运动数据规律的分析，可以更好地研发下肢外骨骼机器人系统。基于人体运动数据作为参考轨迹导入机器人系统的思想，通过三维红外式动作捕捉系统和三维测力平台系统实验采集人体下肢运动数据和足底力数据，利用算法对采集的数据进行滤波和拟合，通过建立下肢外骨骼机器人连杆模型，根据实验数据推导计算出髋关节和膝关节的转动角度和力矩曲线，基于Matlab设计自适应控制器验证了基于实验数据的运动学和动力学分析的有效性，为下肢外骨骼机器人电机的选型和控制系统的设计提供了数据支持和理论依据。

Abstract

For patients with lower limb dyskinesia，the combination of robotic systems and biomedical systems has brought good news to patients. The analysis of human gait law through medical perspective can better develop and drive robotic systems. Therefore， based on the idea of importing human motion data as a reference trajectory into the robot system，the human lower limb motion data and plantar force data are collected experimentally through 3D infrared motion capture system and 3D force measuring platform system. The algorithm is used to filter and fit the collected data. By establishing the link model of the lower limb exoskeleton robot，the rotation angle and torque curve of the hip joint and knee joint are deduced and calculated based on experiment data based on experim ent data，an adaptive controller is designed based on Matlab，and effectiveness of kinematics and dynamics analysis based on experimental data is verified，which provides data support and theoretical basis for the motor selection and control system design of the lower limb exoskeleton robot.

关键词

外骨骼机器人运动学动力学力矩

Keywords

Exoskeleton robotKinematicsDynamicsMoment

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