下肢穿戴式助行器结构设计与仿真分析

Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid

设计了一款下肢穿戴式助行器,主要作用是辅助脑卒中、偏瘫等有下肢运动障碍的患者进行日常行走活动。首先,在对下肢运动机制、关节结构以及自由度组成分析的基础上,建立了下肢穿戴式助行器的三维结构模型;应用三维红外动作捕捉系统采集正常人行走步态数据,拟合出对应关节角度曲线;建立助行器简化D-H模型,对助行器进行了运动学建模分析;将动作捕捉实验(简称动捕实验)采集的步态数据作为仿真驱动,对助行器进行了运动学仿真验证。结果表明,仿真得到的关节角度变化曲线与实验采集到的角度曲线基本一致,角速度变化曲线与踝关节质心位置变化曲线符合正常人体行走规律,验证了下肢穿戴式助行器的结构设计的合理性。

A wearable walking aid for lower limbs is designed,which is mainly used to assist patients with lower limb movement disorders such as stroke hemiplegia to carry out daily walking activities.First of all,based on the analysis of the lower limb motion mechanism,joint structure and the composition of degrees of freedom,the three-dimensional structure model of the lower limb wearable walker is established.The 3D infrared motion capture system is used to collect the gait data of normal people and fit the corresponding joint angle curve.The simplified D-H model of the walker is established,and the kinematics modeling analysis of the walker is carried out.Taking the gait data collected from the motion capture experiment as the simulation driving force,the kine-matics simulation verification of the walker is carried out.The results show that the joint angle change curve is basically consistent with the angle curve collected from the experiment,and the angular velocity change curve and the ankle joint centroid position change curve are consistent with the normal human walking law,which veri-fy the rationality of the structure design of the lower limb wearable walker.