Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid

Wang Xin; Yan Peifeng

doi:10.16578/j.issn.1004.2539.2024.04.013

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Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid

Design· Calculation | 更新时间：2024-04-19

- Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid
- Journal of Mechanical Transmission Vol. 48, Issue 4, Pages: 95-102(2024)
- 作者机构：
  
  1.华北理工大学轻工学院，河北唐山 063000
  2.华北理工大学机械工程学院，河北唐山 063210
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.04.013
  CLC：
- Published：15 April 2024，
  
  Received：16 January 2023，
  
  Revised：19 February 2023，
扫描看全文
王新,鄢沛峰.下肢穿戴式助行器结构设计与仿真分析[J].机械传动,2024,48(04):95-102.

Wang Xin,Yan Peifeng.Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid[J].Journal of Mechanical Transmission,2024,48(04):95-102.
王新,鄢沛峰.下肢穿戴式助行器结构设计与仿真分析[J].机械传动,2024,48(04):95-102. DOI： 10.16578/j.issn.1004.2539.2024.04.013.

Wang Xin,Yan Peifeng.Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid[J].Journal of Mechanical Transmission,2024,48(04):95-102. DOI： 10.16578/j.issn.1004.2539.2024.04.013.

摘要

设计了一款下肢穿戴式助行器，主要作用是辅助脑卒中、偏瘫等有下肢运动障碍的患者进行日常行走活动。首先，在对下肢运动机制、关节结构以及自由度组成分析的基础上，建立了下肢穿戴式助行器的三维结构模型；应用三维红外动作捕捉系统采集正常人行走步态数据，拟合出对应关节角度曲线；建立助行器简化D-H模型，对助行器进行了运动学建模分析；将动作捕捉实验（简称动捕实验）采集的步态数据作为仿真驱动，对助行器进行了运动学仿真验证。结果表明，仿真得到的关节角度变化曲线与实验采集到的角度曲线基本一致，角速度变化曲线与踝关节质心位置变化曲线符合正常人体行走规律，验证了下肢穿戴式助行器的结构设计的合理性。

Abstract

A wearable walking aid for lower limbs is designed

which is mainly used to assist patients with lower limb movement disorders such as stroke hemiplegia to carry out daily walking activities. First of all

based on the analysis of the lower limb motion mechanism

joint structure and the composition of degrees of freedom

the three-dimensional structure model of the lower limb wearable walker is established. The 3D infrared motion capture system is used to collect the gait data of normal people and fit the corresponding joint angle curve. The simplified D-H model of the walker is established

and the kinematics modeling analysis of the walker is carried out. Taking the gait data collected from the motion capture experiment as the simulation driving force

the kinematics simulation verification of the walker is carried out. The results show that the joint angle change curve is basically consistent with the angle curve collected from the experiment

and the angular velocity change curve and the ankle joint centroid position change curve are consistent with the normal human walking law

which verify the rationality of the structure design of the lower limb wearable walker.

关键词

下肢穿戴式助行器下肢运动机制动作捕捉实验运动学建模运动学仿真

Keywords

Lower limb wearable walking aidMechanism of lower limb movementMotion capture experimentKinematic modelingKinematic simulation

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