基于人体-外骨骼-负载耦合系统的静态等效串联链的质心估计方法

Centroid Estimation Method Based on the Statically Equivalent Serial Chain of the Human-exoskeleton-load Coupling System

现有的质心估计方法只研究了外骨骼的质心变化情况,忽略了人体与外骨骼之间的耦合。为了研究人体-外骨骼-负载耦合系统的质心变化情况,提出了一种基于静态等效串联链的质心估计方法。首先,建立人体-外骨骼-负载耦合系统模型,通过人体运动特性采集实验采集模型所需的运动学参数;其次,在OpenSim仿真环境下模拟实验过程,得到不同负载情况下人体-外骨骼-负载耦合系统的质心变化情况;最后,通过理论计算与仿真,证明了质心模型的可行性。为外骨骼的人机携行研究提供了理论依据。

The existing centroid estimation methods only study the changes of the centroid of exoskeletons,and ignore the coupling between the human body and exoskeletons.In order to study the change of the centroid in the human-exoskeleton-load coupling system,a centroid estimation method based on the statically equivalent serial chain was proposed.Firstly,a human-exoskeleton-load coupling system model was established,and the kinematic parameters required for the model were acquired by the human motion characteristics experiment.Secondly,the experimental process was simulated in the OpenSim simulation environment,and the changes of the center of mass of the human-exoskeleton-load coupling system under different loading conditions were obtained.Finally,the feasibility of the centroid model was proved through the theoretical calculation and the simulation,which provides a theoretical basis for the research of exoskeletons in the human-machine carrying.