重力势能锁止型外骨骼设计及其效能评价

Design and performance evaluation of gravitational potential energy locking exoskeleton

现存的被动式外骨骼存在助力效果不明显等缺陷。基于人体步态特征,提出了将人体行走过程中的重力势能转化为人体抬腿过程中动能的原理,通过弹簧、曲柄滑块机构、棘轮棘爪机构以及链传动机构的组合,设计了一款被动式下肢机械外骨骼,并通过外骨骼动力学分析和生理消耗指数实验测试的方法进行了外骨骼性能评价。动力学分析结果表明,穿戴外骨骼后髋关节峰力矩总量降低了23.43%,髋关节做功总量降低了30.59%,初步验证了外骨骼的有效性。生理消耗指数实验测试结果表明,穿戴外骨骼对于短距离动作转换未产生显著效果,但在长距离行走和上坡行走中分别降低了8.1%和10.4%的能量消耗。因此,该下肢外骨骼助力性能得到了验证,为相关领域的研究提供了实例化参考。

The existing passive exoskeletons have some defects,including the lack of assistance effect.Based on the gait characteristics of human body,the principle of transforming gravitational potential energy during walking process into kinetic energy during lifting leg process was proposed,in which a passive lower extremity mechanical exoskeleton was designed by the combination of spring,crank slider mechanism,ratchet pawl mechanism and chain drive mechanism,and the performance of exoskeleton was evaluated by kinetic analysis and physiological cost index experiment.Results of kinetic analysis show that the total peak torque of hip joint is reduced by 23.38%and the total work of hip joint is reduced by 30.59%after wearing the exoskeleton,which preliminarily verifies the effectiveness of the exoskeleton.The results of experiment show no significant effect in short distance action conversion,but is reduced by 8.1%and 10.4%in long distance walking and uphill walking,respectively.Therefore,the assisting performance of the passive exoskeleton has been verified,which provides an instance reference for research in related fields.