Ankle Joint Modeling and Dynamics Simulation of Wearable Lower Limb Exoskeleton Robot
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摘要: 下肢外骨骼机器人是一种具有辅助助力和医疗康复功能的智能型机械装置。本文通过对人体踝关节结构分析，设计了被动气弹簧踝关节下肢外骨骼机器人，并建立了被动踝关节力学模型；利用OpenSim获得了正常人行走时一个步态周期髋、膝关节步态数据，将其导入ADAMS对所设计的下肢外骨骼机器人踝关节未加气弹簧和加气弹簧两种模型进行了动力学仿真，通过对两种模型运动曲线对比分析，验证了所设计的下肢外骨骼机器人在步态行走和动力学方面的可行性和正确性。Abstract: The lowerlimb exoskeleton robot is an intelligent device which can assist walking and rehabilitation training. A passive ankle with the pneumatic spring of thelowerlimb exoskeleton robot was designedthrough analyzing the structure of human's ankle joint, and the passive ankle joint modelwas established.The data on one gait cycle of the hip and knee ankle on a normal walking person are obtained with the Opensim software and imported into ADAMS for simulating the designed lower limb exoskeleton robot with or without a pneumatic spring. The comparison with the two motion curves and the dynamics simulation results show thatthe walking gait and dynamicsof the designed lower limb exoskeleton robot is feasible and correct.
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Key words:
- lowerlimb exoskeleton robot /
- ankle joint modeling /
- gait analysis /
- dynamics /
- simulation
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表 1 下肢外骨骼机器人模型参数
名称 密度/(kg·m-3) 质量/kg 转动惯量/(kg·m2) lxx lyy lzz 腰部 2.710×103 1.310 8 3.262×10-3 3.119×10-2 3.196×10-2 腰部连杆 2.710×103 0.435 3 7.573×10-4 3.384×10-4 1.065×10-3 大腿上连杆 2.710×103 0.749 5 1.469×10-2 4.484×10-4 1.449×10-2 大腿下连杆 2.710×103 0.548 7 4.198×10-3 3.753×10-4 4.529×10-3 小腿上连杆 2.710×103 0.329 7 1.616×10-3 1.616×10-3 1.616×10-3 小腿下连杆 2.710×103 0.462 8 4.063×10-3 6.461×10-5 4.108×10-3 脚后跟 2.710×103 0.943 1 1.194×10-3 3.337×10-3 2.157×10-3 脚前掌 2.710×103 0.649 1 8.863×10-4 1.701×10-3 8.464×10-4 
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