基于动作捕捉系统对下肢外骨骼运动分析及步态仿真

Motion Analysis and Gait Simulation of Lower Limb Exoskeleton Based on Motion Capture System

结合生物医学工程,设计出一种人体下肢外骨骼。通过光学动作捕捉系统采集人体正常行走时的位置坐标,分析采集数据,从而获得人体正常行走时的髋、膝和踝关节的角度变化;建立自由度为5的下肢外骨骼运动学模型,随后通过逆运动学求解出各个关节的角度变化,运用于步态规划中;在SolidWorks中建立下肢外骨骼三维模型,运用ADAMS进行动力学仿真,其中对仿真参数的设定为步态规划中求解的各关节角度,通过虚拟样机完成仿真动作,最后将所得的仿真数据与光学动作捕捉系统采集的数据进行对比。数据对比结果显示,下肢外骨骼能基本实现人体的正常行走,确定了模型建立的可适用性、运动学分析与动力学仿真准确性,为后期的研究提供基准。

Combined with biomedical engineering,a human lower limb exoskeleton is designed.The position coordinates of normal human walking are collected by optical motion capture system,and the collected data are analyzed to obtain the angle changes of hip,knee and ankle joint during normal walking.The kinematics model of lower limb exoskeleton with 5 degrees of freedom is established,and then the angle changes of each joint are solved through inverse kinematics,which is applied in gait planning.The three-dimensional model of lower limb exoskeleton is established using SolidWorks software,and the dynamics simulation is carried out using ADAMS software.The simulation parameters are set as the angles of each joint solved in gait planning,virtual prototype is used to complete the simulation action,and finally the simulation data is compared with the data collected by the optical motion capture system.Through data comparison,the lower limb exoskeleton can basically realize the normal walking of human body,which determines the applicability of the model establishment,the accuracy of kinematic analysis and dynamic simulation,and provides a benchmark for later research.