下肢动力外骨骼设计分析与实验

宁崴; 李刚; 宋振东; 陈伟; 武桐

doi:10.16578/j.issn.1004.2539.2020.05.021

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下肢动力外骨骼设计分析与实验

试验分析 | 更新时间：2022-11-10

- 下肢动力外骨骼设计分析与实验
- Design Analysis and Experiment of Lower Limb Power Exoskeleton
- 机械传动 2020年44卷第5期页码：126-133
- 作者机构：
  
  1.深圳职业技术学院，广东深圳 518055
  2.沈阳新松机器人自动化股份有限公司，辽宁沈阳 110168
- 作者简介：
  
  宁崴（1977— ），男，广西桂林人，硕士，讲师，研究领域为机器人机构学、系统动力学。
  宋振东（1989— ），男，山东曲阜人，博士，研究方向为机构动学分析与控制。
- 基金信息：
  
  国家重点研发计划(2018YFB1307000);国家重点研发计划(2017YFC0805000)
- DOI：10.16578/j.issn.1004.2539.2020.05.021
  中图分类号：
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宁崴,李刚,宋振东等.下肢动力外骨骼设计分析与实验[J].机械传动,2020,44(05):126-133.

Ning Wei,Li Gang,Song Zhendong,et al.Design Analysis and Experiment of Lower Limb Power Exoskeleton[J].Journal of Mechanical Transmission,2020,44(05):126-133.
宁崴,李刚,宋振东等.下肢动力外骨骼设计分析与实验[J].机械传动,2020,44(05):126-133. DOI： 10.16578/j.issn.1004.2539.2020.05.021.

Ning Wei,Li Gang,Song Zhendong,et al.Design Analysis and Experiment of Lower Limb Power Exoskeleton[J].Journal of Mechanical Transmission,2020,44(05):126-133. DOI： 10.16578/j.issn.1004.2539.2020.05.021.

摘要

为有效解决下肢肌肉功能退化及中风偏瘫等疾病导致的老年人下肢运动功能障碍，从康复医学的角度，分析了康复运动对下肢功能障碍患者恢复的重要性，结合人体生理结构，建立了人体肌骨模型，进行了肌骨仿真分析。为了准确判断患者的运动意图，设计了3种外骨骼专用传感器。在此基础上，提出了力感知助力关节结构方案，并设计了下肢动力外骨骼整体结构，进行了人机耦合运动学仿真分析。在结构设计的基础上，设计了下肢外骨骼的硬件及电气系统。为了验证理论研究的正确性，加工了外骨骼实验样机，进行了相关实验。实验结果说明，设计的外骨骼专用传感器可以准确获取相应信号，助力关节可以提供较大的关节助力，设计的下肢动力外骨骼能够准确判断患者的运动意图，可以长时间稳定安全地进行平地行走及斜坡行走。

Abstract

Abstract In order to effectively solve the motor dysfunction of lower limbs in the elderly caused by the degeneration of lower limb muscle function and stroke hemiplegia， the importance of rehabilitation exercise for the recovery of lower extremity dysfunction patients is analyzed from the perspective of rehabilitation medicine. Combining with the physiological structure of human body， a human musculoskeletal model is established and the musculoskeletal simulation analysis is carried out. In order to accurately judge the motion intention of patients， three kinds of special sensors for exoskeleton are designed. On this basis， a force sensing joint structure scheme is proposed， and the overall structure of the lower limb power exoskeleton is designed. The human-machine coupling kinematics simulation analysis is carried out. On the basis of structure design， the hardware and electrical system of lower limb exoskeleton are designed. In order to verify the correctness of theoretical research， the exoskeleton prototype is processed and related experiments are carried out. The experimental results show that the special exoskeleton sensor designed can accurately acquire the corresponding signals， and the assistant joints can provide greater joint assistance. The designed lower limb power exoskeleton can accurately judge the motion intention of patients， and can walk steadily and safely on the ground and on the slope for a long time.

关键词

肌骨模型传感器助力关节下肢动力外骨骼系统设计实验

Keywords

Musculoskeletal modelSensorAssistant jointLower limb power exoskeletonSystem designExperiment

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