人体步态分析与负重外骨骼机器人的动力学仿真

Human Gait Analysis and Load-exoskeleton Robot Dynamic Simulation

分析和识别穿戴者的步态信息,指导负重外骨骼机器人的机械结构设计,使其能够和穿戴者协调同步行走。设计仿人体下肢生物平台,利用传感器系统实时反馈人的步态数据,设计与建立步态数据库,在ADAMS中建立三维离线式仿真系统,结合步态的运动学数据,进行动力学分析,为机械结构的设计和驱动单元的选型提供了理论依据和数据支持。通过负重外骨骼机器人的穿戴测试,表明机械结构设计合理,可以真实反映关节转矩的变化。

The human normal gait with wearable exoskeleton was analyzes and identified for providing reference on designing load-exoskeleton robot with an optimized structure.Through constructing a biological platform of imitated human lower limbs,the real-time human gait data is collected using sensor system,and is then filled into the gait database.ADAMS is applied to establish off-line 3-dimensional simulation system by combining with the kinematic data in gait.The dynamic analysis results provide theoretical basis and data support in mechanical structure design and driver units selection.The practical testing with load-exoskeleton suggests that the mechanical structure is designed reasonably and the simulated result is coincided with the actual joint torque curves.