下肢外骨骼的新型足部机构舒适性优化

Comfort optimization of a new type of foot mechanism for lower extremity exoskeleton

为减小在高负重的情况下穿戴下肢外骨骼时足部与地面接触产生的冲击,本文设计了一种用于提高足部舒适性的外骨骼足部机构,并对其影响舒适性的关键指标进行了优化。首先,本文基于步态周期的足底受力特点建立了足部机构物理模型,进而抽象出振动数学模型,并用有限元分析软件ANSYS仿真验证了模型的正确性。然后,本文基于振动数学模型分析了振动参数对绝对传递率的影响,并用数学计算软件MATLAB遗传算法工具箱优化振动参数。最后,本文以白噪声模拟路面高程作为振动输入,利用MATLAB中的可视化仿真工具Simulink并结合振动方程构建加速度仿真模型,进而计算足部的振动加权均方根加速度值。研究结果表明,该足部舒适性机构能够满足减振性与足底压力的舒适性指标。本文为外骨骼足部机构的设计提供了一套较为完整的设计方法,对于其他外骨骼的足部设计以及踝关节康复机构的设计具有借鉴意义。

In order to reduce the impact caused by the contact between the foot and the ground when wearing the lower extremity exoskeleton under the condition of high load, this paper proposed an exoskeleton foot mechanism for improving the foot comfort, and optimized the key index of its influence on the comfort. Firstly, the physical model of foot mechanism was established based on the characteristics of foot stress in gait period, and then the mathematical model of vibration was abstracted. The correctness of the model was verified by the finite element analysis software ANSYS. Then,this paper analyzed the influence of vibration parameters on absolute transmissibility based on vibration mathematical model, and optimized vibration parameters with MATLAB genetic algorithm toolbox. Finally, this paper took white noise to simulate the road elevation as the vibration input, and used the visual simulation tool Simulink in MATLAB and the vibration equation to construct the acceleration simulation model, and then calculated the vibration weighted root mean square acceleration value of the foot. The results of this study show that this foot comfort mechanism can meet the comfort indexes of vibration absorption and plantar pressure, and this paper provides a relatively complete method for the design of exoskeleton foot mechanism, which has reference significance for the design of other exoskeleton foot and ankle joint rehabilitation mechanism.