人体下肢外骨骼康复机器人的仿真分析

Simulation analysis of human lower limb exoskeleton rehabilitation robot

采用电机驱动方式,设计出一种用于辅助老年人和患者生活的服务型机器人——人体下肢外骨骼康复机器人,通过建立人体行走姿态时的D-H数学模型,推导出了髋关节、膝关节和踝关节行走姿态中的坐标方程.在ADAMS环境下进行人机耦合的仿真,结果表明:下肢外骨骼各关节在空间中具有连续的运动轨迹,满足各关节运动的可达性,符合人体下肢的运动特性.搭建样机试验平台,测取了三个关节角度随周期的变化曲线,验证了下肢外骨骼装置的运动轨迹,并且试验运动曲线和仿真曲线基本一致.

The kind of device of human lower limb exoskeleton rehabilitation robot is a kind of service robot,which is designed to be used for assisting the life of old people and sufferer,based on the motor drive.By establishing the D-H mathematical model of human walking posture,the coordinate equations of hip joint,knee joint and ankle joint are derived.Under the ADAMS environment,the simulation results show that the joints of the lower limb exoskeleton have a continuous trajectory in space,which can meet the motility of the joint movement,and meet the motion characteristics of the human lower limb.A prototype test platform is set up to test the angle curve which changes with the cycle.The motion trajectory of the lower limb exoskeleton is verified,and the experimental curves and the simulation curves are basically consistent.