主被动混合驱动的假脚—踝关节系统研究
发布时间：2018-07-21 20:44
【摘要】：踝关节假肢是帮助膝下截肢患者恢复踝关节运动的一种替代型工具。随着经济的发展和人民生活水平的提高,截肢患者已不再满足传统踝关节假肢的基本行走功能。在当今假肢设计领域里,能够设计出实现行走更加贴近正常人的步态轨迹且更加舒适的假肢成为截肢患者的迫切需要。本文根据正常人体踝关节平地行走的各步态相位的特点,旨在设计出能够帮助残疾人恢复行走能力,像正常人一样生活、学习和工作的踝关节假肢,具有很重要的社会意义和学术价值。本文主要针对下几点展开研究:(1)人体踝关节生物力学特性研究。具体阐述了人体踝关节在平地行走的各步态相位特征,对踝关节各参数数据曲线进行了运动学分析和生物力学分析,得到了踝关节平地行走的基本特征、生物力学特性以及人体正常行走的踝关节扭矩特性曲线,具体分析了一个步态周期各相位阶段踝关节扭矩和角度之间的关系,为主被动假脚-踝关节系统的结构设计以及动力学仿真提供了依据。(2)假脚-踝关节系统的设计。根据正常人体平地上行走的扭矩特性曲线,提出了假脚-踝关节系统设计思想以及总体构型,对其中部分关键机构进行了数学建模和计算分析,并且对关键零件参数进行了计算验证,完成了一体化假脚-踝关节系统的结构设计,说明了一个步态周期中一体化假脚-踝关节系统基本工作原理,分析了各相位步态中的能量储存和释放过程,验证了前面提出的假脚-踝关节系统总体构型的设计思想。(3)假脚-踝关节系统的动力学仿真与优化。建立了假脚-踝关节系统的仿真模型,并运用ADAMS仿真软件进行了动力学分析和参数优化,得到了最佳的弹簧和扭簧刚度,弹簧两端位置以及电机扭簧联合驱动力矩等参数,根据能量分析结果对比,说明了假脚具有与人体踝关节相近的力学特性,而且还能实现能量的回收利用,能耗低,同时也验证了建模以及分析方法的正确性。最后,完成了控制系统软件编写和硬件搭建,制定了实验方案,通过机器人夹持假肢行走得到了实际踝关节角度曲线,对实验测得的假脚的踝关节角度曲线和理论的角度曲线进行对比分析。实验研究表明,使用的仿真方法是正确的,所设计的主被动混合驱动的假脚-踝关节系统是可行的。
[Abstract]:Ankle prosthesis is an alternative tool to help patients with subgenu amputation recover ankle motion. With the development of economy and the improvement of people's living standard, amputation patients no longer meet the basic walking function of traditional ankle prosthesis. In the field of prosthetic design nowadays, it is an urgent need for amputees to be able to design prostheses that can walk closer to the gait trajectory of normal people and more comfortable. According to the characteristics of the gait phases of the normal human ankle, the purpose of this paper is to design an ankle prosthesis which can help the disabled to recover the walking ability and live, study and work like the normal people. Has very important social significance and academic value. This paper mainly focuses on the following points: (1) biomechanical characteristics of human ankle. In this paper, the gait phase characteristics of human ankle walking in flat ground are expounded in detail. The kinematics and biomechanical analysis of the ankle parameters data curve are carried out, and the basic characteristics of ankle walking are obtained. The relationship between ankle torque and angle in every phase of a gait cycle is analyzed. The structural design and dynamic simulation of the main passive foot-ankle joint system are provided. (2) the design of the artificial foot-ankle joint system. According to the torque characteristic curve of normal human body walking on the flat ground, the design idea and the overall configuration of the artificial foot-ankle joint system are put forward, and some of the key mechanisms are modeled and calculated. The parameters of the key parts are calculated and verified, and the structural design of the integrated false-ankle joint system is completed, and the basic working principle of the integrated false-ankle joint system in a gait cycle is explained. The energy storage and release process in each phase gait is analyzed, and the design idea of the overall configuration of the artificial foot-ankle joint system is verified. (3) the dynamic simulation and optimization of the artificial foot-ankle joint system. The simulation model of the artificial foot-ankle joint system is established, and the dynamic analysis and parameter optimization are carried out by using Adams simulation software. The optimum spring and torsion spring stiffness, the position of the two ends of the spring and the combined torque of the motor torsion spring are obtained. According to the comparison of the results of energy analysis, it is proved that the prosthetic foot has the same mechanical properties as the human ankle joint, and it can also realize the recovery and utilization of energy, and the energy consumption is low. At the same time, the correctness of the modeling and analysis method is verified. Finally, the software and hardware of the control system are completed, and the experimental scheme is established. The actual ankle angle curve is obtained by the robot walking with the prosthesis. The angle curve of ankle joint measured by experiment is compared with that of theory. The experimental results show that the simulation method is correct and the active and passive hybrid drive system is feasible.
【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496
本文编号：2136802
[Abstract]:Ankle prosthesis is an alternative tool to help patients with subgenu amputation recover ankle motion. With the development of economy and the improvement of people's living standard, amputation patients no longer meet the basic walking function of traditional ankle prosthesis. In the field of prosthetic design nowadays, it is an urgent need for amputees to be able to design prostheses that can walk closer to the gait trajectory of normal people and more comfortable. According to the characteristics of the gait phases of the normal human ankle, the purpose of this paper is to design an ankle prosthesis which can help the disabled to recover the walking ability and live, study and work like the normal people. Has very important social significance and academic value. This paper mainly focuses on the following points: (1) biomechanical characteristics of human ankle. In this paper, the gait phase characteristics of human ankle walking in flat ground are expounded in detail. The kinematics and biomechanical analysis of the ankle parameters data curve are carried out, and the basic characteristics of ankle walking are obtained. The relationship between ankle torque and angle in every phase of a gait cycle is analyzed. The structural design and dynamic simulation of the main passive foot-ankle joint system are provided. (2) the design of the artificial foot-ankle joint system. According to the torque characteristic curve of normal human body walking on the flat ground, the design idea and the overall configuration of the artificial foot-ankle joint system are put forward, and some of the key mechanisms are modeled and calculated. The parameters of the key parts are calculated and verified, and the structural design of the integrated false-ankle joint system is completed, and the basic working principle of the integrated false-ankle joint system in a gait cycle is explained. The energy storage and release process in each phase gait is analyzed, and the design idea of the overall configuration of the artificial foot-ankle joint system is verified. (3) the dynamic simulation and optimization of the artificial foot-ankle joint system. The simulation model of the artificial foot-ankle joint system is established, and the dynamic analysis and parameter optimization are carried out by using Adams simulation software. The optimum spring and torsion spring stiffness, the position of the two ends of the spring and the combined torque of the motor torsion spring are obtained. According to the comparison of the results of energy analysis, it is proved that the prosthetic foot has the same mechanical properties as the human ankle joint, and it can also realize the recovery and utilization of energy, and the energy consumption is low. At the same time, the correctness of the modeling and analysis method is verified. Finally, the software and hardware of the control system are completed, and the experimental scheme is established. The actual ankle angle curve is obtained by the robot walking with the prosthesis. The angle curve of ankle joint measured by experiment is compared with that of theory. The experimental results show that the simulation method is correct and the active and passive hybrid drive system is feasible.
【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496
【参考文献】
相关期刊论文 前1条
1 ;硬质热塑性聚氨酯M手指无限接近自然假体[J];聚氨酯工业;2014年01期
，本文编号：2136802
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