基于牛顿-欧拉动力学方程的人体下肢动力学分析

发布时间：2018-05-02 22:21

  本文选题：牛顿-欧拉动力学 + 两杆动力学方程　； 参考：《航天医学与医学工程》2017年06期

【摘要】：目的建立人体下肢动力学方程,求解不同步态下关节部位的运动学参数与动力学参数。方法应用牛顿-欧拉动力学方程建立人体下肢两杆动力学方程。根据实验者的人体参数计算得出方程中的人体大、小腿的长度、质量、质心位置以及转动惯量,通过Vicon三维运动采集设备,对人体下肢不同速度步态下的运动学参数进行采集,得出了各种步态下髋、膝关节的关节角度随时间变化曲线图。将角度数据、足底压力数据及下肢模型所需参数带入方程中,通过Matlab软件进行编程计算。将计算结果与ADAMS人体步态仿真结果进行力矩峰值的比较,验证了所建立方程的正确性。结果求解计算出了不同步态下髋、膝关节的力矩。结论通过建立动力学方程求解关节力矩,实现了关节下肢力矩在不同步态下的精确求解,为外骨骼的关节力矩设定提供了依据。
[Abstract]:Objective to establish a dynamic equation of human lower limb and to solve the kinematic and dynamic parameters of joint under different gait. Methods the Newtonian-Euler kinetic equation was used to establish the two-bar dynamics equation of human lower extremities. According to the human body parameters of the experimenter, the length, mass, center of mass and moment of inertia of the human body and the calf in the equation were calculated. The kinematics parameters of the lower extremity gait with different velocities were collected by Vicon three-dimensional motion acquisition equipment. The curve of joint angle of hip and knee under various gait changes with time was obtained. Angle data, plantar pressure data and the parameters needed for the lower limb model are brought into the equation and programmed by Matlab software. The calculated results are compared with the results of ADAMS human gait simulation, and the correctness of the established equations is verified. Results the torque of hip and knee joint under different gait was calculated. Conclusion by establishing the dynamic equation to solve the joint torque, the joint lower limb torque can be accurately solved under different gait, which provides the basis for the joint torque setting of exoskeleton.
【作者单位】： 太原理工大学精密加工山西省重点实验室;中国航天员科研训练中心航天医学基础与应用国家重点实验室;
【基金】：中国航天医学工程预先研究课题(2013SY54B0502,FTKY201508) 航天医学基础与应用国家重点实验室研究基金(SMFA14B01)
【分类号】：R318.01;TP391.9
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本文编号：1835728