基于人机工程学的无动力下肢外骨骼设计研究

RESEARCH ON THE DESIGN OF UNPOWERED LOWER LIMB EXOSKELETON BASED ON ERGONOMICS

本文以为普通人和有负重需要的人提供助力为目标,对无动力下肢外骨骼进行设计。在保证结构合理的基础上力求满足质量轻、操作简便、人机协调等目标。在人机工程学和人体步态运动规律的基础上提出一种无动力下肢外骨骼的设计概念,设计了该外骨骼各关节的自由度数、部件参数等关键信息,在上述基础上对外骨骼进行详细设计,并对其进行分析测试。最终基本完成了设计原型,符合预期目标,下肢外骨骼实现了对使用者助力的目的,满足了相关结构强度要求。实验结果表明下肢外骨骼的结构设计合理,工作模式符合设计要求,为进一步探索下肢外骨骼的设计打下了基础。

This paper in order to provide assistance for normal people and people with weight-bearing needs as the design goal,the unpowered lower limb exoskeleton was designed.Strive to meet the objectives of light weight,simple operation and man-machine coordination on the basis of reasonable structure.Based on the ergonomics and the law of human gait movement,a design method of the lower limb exoskeleton without power is proposed.The key information such as the degrees of freedom of each joint of the exoskeleton,the motion model and the component data are determined.On the basis of the above,the exoskeleton is designed in detail and analyzed and tested.The design prototype is basically completed,which is in line with the expected goal.The lower limb exoskeleton realizes the purpose of helping the user,and meets the relevant structural strength requirements.The experimental results show that the structure design of the lower extremity exoskeleton is reasonable and the working mode meets the design requirements,which lays a foundation for the further design of the lower extremity exoskeleton.