基于TRIZ的柔性下肢外骨骼设计与研究

Design and research of flexible lower exoskeleton based on TRIZ

为了改善穿戴者使用下肢外骨骼的舒适度,提升产品竞争力,在TRIZ的理论基础上对下肢外骨骼进行了创新设计,根据TRIZ创新问题解决流程,确立下肢外骨骼设计原则,分别利用物-场分析与矛盾分析等创新工具解决下肢外骨骼刚性冲击与驱动器动力非线性输出的问题,得到一款包含助力与缓冲2种工作模式的下肢外骨骼,利用虚拟样机技术对下肢外骨骼进行运动仿真,通过对比仿真结果与人体运动标准数据,验证了设计方案的可行性。

In order to improve the comfort of the exoskeleton and enhance the competitiveness of the product,innovative design on the lower exoskeleton based on the theory of TRIZ was carried out.According to the TRIZ innovation problem solving process,the exoskeleton design principle was established,and the innovative tools such as object-field analysis and contradiction analysis were used to solve the problem of rigid impact of exoskeleton and non-linear output of the driver,a lower exoskeleton including assisting mode and buffering mode was obtained.The virtual prototype technology was used to simulate the exoskeleton.The simulation results and human body motion standard data were compared to verify the feasibility of the scheme.