用于检测下肢关节运动信息的外骨骼机构设计及运动学分析

Design and Kinematics Analysis of the Exoskeleton Mechanism for Detecting Motion Information of Lower-limb Arthosis

对人体下肢关节的运动属性、直立行走的步态特征及人-机之间关节运动属性差异对人-机相容性的影响进行了分析,根据下肢康复训练的功能需求并通过在人-机联接环节增置连接关节,提出一种用于检测人体下肢髋、膝关节运动信息的外骨骼机构.建立了外骨骼机构关节运动与人体下肢关节运动之间的映射关系,并对人-机组成的封闭运动链进行了运动仿真分析.分析表明:外骨骼机构的关节运动与人体下肢髋、膝关节运动之间具有确定的量化联系,通过安置于外骨骼机构关节处的传感器能检测人体直立行走时的下肢关节运动信息.

The kinematic properties of human lower-limb arthrosis, the gait pattern characteristics of human up-stand walking, as well as the influences of the kinematical difference between human arthrosis and machine joint on human-machine consistence are investigated in detail. According to the functional demand analysis of lower-limb rehabilitative training and by adding linking joint into the human-machine connective chains, a novel exoskeleton mechanism used to detect the motion information of lower-limb sciatic and knee arthosises is proposed. The motion mapping between human lower-limb arthrosises and exoskeleton mechanism＇s joints is established, and kinematics simulation of the human-machine closed kinematic chain is presented. Results show that the motions between lower-limb arthrosises and exoskeleton mechanism＇s joints have quantificational relationships, and the motion information of human lower-limb arthrosises corresponding to human up-stand walking can be detected from the sensors installed at the joints of exoskeleton mechanism.