无动力储能式截瘫助行外骨骼弹簧刚度优化

发布时间：2018-11-08 19:50

【摘要】：无动力储能式截瘫助行外骨骼为不同身高、体重和损伤情况的截瘫患者提供精准化助行,储能弹簧作为外骨骼标准元件,其刚度为固定值。该文针对该外骨骼储能弹簧刚度参数选择问题,建立了截瘫患者穿戴无动力储能式截瘫助行外骨骼单侧下肢从站立中期到站立后期动力学模型,得到人体髋关节力矩与身高、体重、髋关节角度的关系,并提出以人体髋关节和弹簧力矩之和绝对值的积分为优化目标的弹簧刚度参数优化设计方法。研究发现:不同身高、体重组合情况下,外骨骼弹簧1刚度k1满足正态分布,弹簧2刚度k2不满足正态分布;k1和k2的中位数3 180和1 279N/m作为无动力储能式截瘫助行外骨骼储能弹簧刚度参数,适用于身高和体重在百分位数P1~P99间的患者。
[Abstract]:The exoskeleton of non-dynamic energy storage type paraplegia can provide accurate walking aid for paraplegic patients with different height, weight and injury. As the standard element of exoskeleton, the stiffness of energy storage spring is fixed. In order to select the stiffness parameters of the exoskeleton energy storage spring, a dynamic model for paraplegic patients with wearless energy storage type paraplegia from the middle stage of standing to the late stage of standing of exoskeleton is established, and the torque and height of human hip joint are obtained. The relationship between body weight and hip joint angle, and the optimum design method of spring stiffness parameters based on the integral of the sum of human hip joint and spring moment is put forward. It is found that under the condition of different height and weight combination, the exoskeleton spring 1 stiffness k1 satisfies the normal distribution, and the spring 2 stiffness k2 does not satisfy the normal distribution. The median values of K _ 1 and k _ 2 were 3 180 and 1 279N/m as the stiffness parameters of exoskeleton energy storage spring with no dynamic energy storage paraplegia. They were suitable for patients with height and weight between percentiles of P1~P99.
【作者单位】：清华大学机械工程系摩擦学国家重点实验室智能与生物机械分室;
【基金】：国家科技支撑计划(2012BAI34B02)
【分类号】：R496

【相似文献】