人体下肢动力助行器的结构设计与仿真

Structure design and simulation of dynamic walking-aid

针对下肢残障人士站立与行走的需求,提出一种新型外动力式助行器,并对其总体结构进行了设计。根据ZMP理论,分析了影响人体行走稳定性的因素,并且参考人体下肢尺寸与各关节特点,对助行器的机构进行设计。通过建立助行器虚拟样机模型,并使用Recur Dyn软件对其进行了运动学与动力学仿真,仿真结果表明,文中提出的助行器结构设计合理。

To assist patients with lower limb paralysis in standing and walking,this paper presents a novel mechanism de- sign of robotic walking-aid. Based on the ZMP theory,the factors that can affect the people walking stability were discussed. And the walking-aid mechanism was design consendering the dimensions of limbs and the characteristics of the joints. The kinematic and dynamic simulation was conducted by RecurDyn software on the basis of its virtual prototype model. The simulation results showed that the structure of the proposed robotic walking-aid is effective and reasonable.