气动肌肉驱动的新型人工膝关节运动学分析

Kinematic Analysis of a New Artificial Knee Joint Driven by Pneumatic Muscle

设计了一种气动人工肌肉驱动的可变瞬心人工膝关节,建立了单根气动人工肌肉的数学模型,建立了人工膝关节的运动学模型,并根据运动学约束建立了人工膝关节的瞬心轨迹模型,应用matlab/simulink软件对关节系统进行了运动学仿真,得出了小腿在期望运动规律下人工膝关节各部件的运动规律以及人工膝关节瞬心的运动轨迹,仿真结果表明该人工膝关节瞬心运动轨迹符合人体膝关节真实瞬心运动曲线。

A variable transient center artificial knee joint driven by pneumatic artificial muscle was designed, the mathematical model of a single pneumatic artificial muscle was established, the kinematic model of the artificial knee joint was established, and the instantaneous center trajectory model of the artificial knee joint was established according to the kinematic constraints. The kinematic simulation of the joint system was carried out by using matlab/simulink software. The motion law of all parts of the artificial knee joint under the expected motion law and the motion track of the instantaneous center of the artificial knee joint are obtained. The simulation results show that the instantaneous center of the artificial knee joint’s motion track conforms to the real instantaneous center of the human knee joint.