基于牛顿-欧拉法的人体下肢动力学分析与建模

A Dynamics Analysis and Modeling of Human Lower Limb Based on Newton-Euler Approach

人体下肢运动分析和建模是研究助老助残下肢外骨骼康复机器人的重要内容。建立了基于人体下肢步态分析的连杆刚体力学模型,采用牛顿-欧拉法构建人体下肢的各部分的动力学模型,可减少计算步骤,提高计算效率,获得关节力矩准确值,从而量化了下肢的运动。最后对人体下肢各关节的动力学模型进行了仿真,求解了方程,得到了所建模型对单腿支撑相和摆动相下的踝关节、髋关节和膝关节力矩曲线。利用该动力学模型可以获得训练过程中各关节的受力情况,为深入研究、设计助老助残康复机器人奠定了基础。

The analysis and modeling of human lower extremity is an important content of study of low-limb exoskeletons rehabilitation robot for the assistance of the aged and disabled. Dynamics model of multi-link rigid body was established based on human lower limb gait analysis. Newton-Euler modeling method was adopted to gain the exact value of joint torques so as to reduce the steps of calculation and increase calculating efficiency with low-limb movement quantified. Finally, dynamics simulation of several joints was carried out with the simulation results indicating that the stance leg moments and swing leg moments of ankle, hip and knee can be dynamically tracked through this dynamic model. So the force conditions of each joint during rehabilitation training can be obtained by the dynamics model, which can provide a foundation for the rehabilitation robot for the assistance of the aged and disabled in terms of in-depth study or design.