负重型下肢外骨骼人机耦合的腿部绑缚系统研究

Research of Leg Binding System for Man-Machine Coupling with Lower Limb Booster Exoskeleton

负重型下肢外骨骼的人机耦合程度直接影响其提升人体运动机能的工作效率,为提高外骨骼人机耦合程度,这里对外骨骼腿部绑缚系统进行了研究。通过分析发现外骨骼腿部绑缚系统的一般特征,提出绑缚位置的降低或绑缚数量的增加均能够提升人机耦合程度的假设。将人机耦合系统简化为连杆机构模型并建立运动学与动力学方程。通过OpenSim建立人机耦合系统模型并进行正向动力学耦合仿真与分析,得到行走运动状态下的关节角位移与关节力矩等数据。利用实验样机测试研究腿部绑缚变化与人体生理体征的相互影响与作用,并综合模拟仿真结果探索出了一种人机耦合程度相对较高的腿部绑缚系统,为外骨骼绑缚系统设计提供理论支撑。

The degree of man-machine coupling of Lower Limb Booster Exoskeleton directly affects the work efficiency of the human body's motor function.To improve the coupling degree of the exoskeleton,the external bone-binding system is studied.By analyzing the general characteristics of the exoskeleton leg binding system,it is proposed that the reduction of the binding position or the increase of bindings can improve the degree of human-machine coupling.The human-machine coupling system is simplified to the linkage model and the kinematics and dynamics equations are established based on it.The model of man-machine coupling system is established by OpenSim and the simulation and analysis of coupling forward dynamic are carried out.The joint angular displacement and joint torque in walking motion state are obtained.A leg binding system with relatively high degree of human-machine coupling has been explored by studying the interaction and effect of leg binding changes and the test of human physiological signs through experimental prototype,and the results of coupling simulation,which provides theoretical support for the exoskeleton binding system.