康复用下肢外骨骼结构设计与仿真

Structural Design of Lower Limb Exoskeleton for Rehabilitation and Simulation

针对现有康复用下肢外骨骼普遍质量偏重,人机协调性较差的问题,根据人体行走步态特征设计了一套康复用下肢外骨骼.选用伺服电机和滚珠丝杠的直线执行机构,运动方式更接近于人体下肢骨骼运动;大量使用碳纤维和航空铝材料,降低了装置的质量;设计无级可调结构,保证了人机协调性.动力学仿真表明,人体穿戴该装置后,能够按照正常的步态完成行走过程,该装置的设计合理.

Aimed at the existing problems of lower limb exoskeleton for rehabilitation,such as overweight and poor man-machine compatibility,a new lower limb exoskeleton for rehabilitation was designed according to the characteristics of human walking gait.A linear actuator movement with a servo motor combined with a ball screw was adopted so as to get as close as possible to the movement of lower limb skeletal muscles of human beings.Carbon fiber and aviation aluminum were used to reduce the weight of the device.An adjustable structure was also designed to guarantee the man-machine compatibility.Dynamic simulation proved that,wearing the new device,human body can complete the walking process at the normal gait,which indicates the reasonableness of the design.