人体足踝步态模拟机的运动和动力特性研究

发布时间：2018-01-18 10:21

本文关键词：人体足踝步态模拟机的运动和动力特性研究　出处：《上海交通大学》2014年硕士论文　论文类型：学位论文

更多相关文章： 步态模拟机 运动学 动力学 试验台

【摘要】：人们对足踝在各种运动中的运动学特性，足部与地面接触时踝关节的各种受力环境不太了解，对踝关节以及步态的研究是现今亟需解决的课题。首先，设计了一种人体足踝步态模拟机，其可以分析足踝和胫骨轴的运动学，，同时还可以研究步态中着地相的力学特性。本文还对足部的骨骼进行了较为细致的建模，为以后分析足部某些骨块、足踝位置的运动特性研究提供了方便。建立人体足踝步态模拟机系统和连杆坐标系，通过一系列连杆传递到机构末端的执行器（足部），由执行器完成设计者的运动学、动力学目的。其次，建立机械系统的动力学模型，对足部模型进行改进，添加肌腱弹簧阻尼机构，足底软组织囊。在Adams虚拟样机动力学软件中对其步态着地相进行仿真，验证了三个方向的足底反力。最后，对步态模拟机进行试验台的搭建，调试和运行，采集运动学、足底动力学等数据并比对。控制方法上采用闭环PID控制方法，对主要驱动器的输入曲线进行迭代学习，使机构输出的足底反力满足实际步态中足底反力的目标曲线。据此，我们验证了本文设计的足踝步态模拟机能够很好地对足踝运动学轨迹进行拟合；在Adams虚拟样机仿真软件中建立的动力学模型能够验证着地相三个方向的足底反力；搭建的步态模拟试验台也能够很好地验证人体步态着地相进程中的足底力学性质。本论文是由国家自然科学基金赞助，编号为81071237。
[Abstract]:People do not know much about the kinematics characteristics of ankles in various movements and the mechanical environment of ankle joints when they are in contact with the ground. The research on ankle joints and gait is a subject that needs to be solved now. Firstly, a human ankle gait simulator is designed, which can analyze the kinematics of ankle and tibia axis. At the same time, the mechanical properties of landing phase in gait can be studied. It is convenient to study the motion characteristics of ankle position. A human ankle gait simulator system and a coordinate system are established, which are passed to the end of the mechanism (foot) through a series of connecting rods. The designer's kinematics and dynamics are accomplished by the actuator. Secondly, the dynamic model of the mechanical system is established, the foot model is improved, and the tendon spring damping mechanism is added. The plantar soft tissue sac was simulated in the Adams virtual prototyping dynamic software to verify the three directions of plantar reaction. Finally, the gait simulator is built, debugged and run, and the kinematics, plantar dynamics and other data are collected and compared. The closed-loop PID control method is used in the control method. The input curve of the main driver is studied iteratively to make the plantar reaction output of the mechanism meet the target curve of the plantar reaction in the actual gait. Based on this, we verify that the ankle gait simulator designed in this paper can fit the ankle kinematics trajectory well. The dynamic model established in the Adams virtual prototyping simulation software can verify the foot reaction force in three directions of the earth phase. This paper is sponsored by the National Natural Science Foundation of China, which is sponsored by the National Natural Science Foundation of China, and can also verify the mechanical properties of the plantar in the process of human gait landing. The number of this paper is 810712377.This paper is sponsored by the National Natural Science Foundation of China.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH113

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