下肢外骨骼助力机理与技术研究

发布时间：2018-01-16 19:33

本文关键词：下肢外骨骼助力机理与技术研究　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：自二十一世纪以来,发达国家纷纷开展了下肢外骨骼的研究。下肢外骨骼的研究不仅有军事意义,更有重大的社会意义,特别是即将步入老龄化社会的中国。为此,本文以下肢外骨骼系统为研究对象,对相关机理和技术加以研究。本文首先分析了平地行走的关节角度及地面广义反作用力特征,并借助Opensim软件求得下肢表面肌肉的肌肉激活度,然后通过概率神经网络对下肢关节运动趋势进行预测,结果表明预判准确率达到80%以上。接着进行了下肢外骨骼的结构设计,分配了整体结构的自由度,确定了系统的驱动形式,完成了包含传感器的布置、不同人群匹配性的完整的结构设计。随后基于Matlab和Adams的联合仿真并结合人机交互模型,进行了一般下肢外骨骼模型的摆动腿仿真,对力矩放大控制和神经网络灵敏度放大控制的控制策略进行了效果评估和实际情况的考量,得出后者更加实用的结论。最后结合下肢外骨骼穿戴的步态实验,在此基础上提出了人体正常步态时在矢状面的下肢关节角度变化平滑的假设,借鉴表面粗糙度的定义,并且引入高斯滤波,提出了下肢外骨骼人机耦合粗糙度的参数定义及计算方法,并且按照此方法定量计算并评价了三种步态时某下肢外骨骼的人机功效,该评价方法可以作为下肢外骨骼通用的评价指标。国内在下肢外骨骼的研究已跨过初步阶段,所以本文对下肢外骨骼所做的基础性研究可以为后续的结构设计,控制策略和人机功效评价提供基础和参考依据。
[Abstract]:Since 21th century, developed countries have carried out research on exoskeleton of lower extremity. The study of exoskeleton of lower extremity is not only of military significance, but also of great social significance. In particular, China is about to enter an aging society. Therefore, the exoskeleton system of the lower extremity is the object of study in this paper. In this paper, firstly, the joint angle of walking on the ground and the characteristics of generalized reaction force on the ground are analyzed, and the muscle activation degree of the lower extremity surface muscle is obtained by Opensim software. Then the movement trend of lower extremity joint is predicted by probabilistic neural network. The result shows that the accuracy of prediction is more than 80%. Then the structural design of exoskeleton of lower extremity is carried out and the degree of freedom of the whole structure is allocated. The driving form of the system is determined, and the complete structure design including sensor layout and different crowd matching is completed. Then, the joint simulation based on Matlab and Adams is carried out and the human-computer interaction model is combined. The swing leg simulation of general exoskeleton model of lower limb is carried out, and the control strategies of torque amplification control and neural network sensitivity amplification control are evaluated and the actual situation is considered. Finally, combining with the gait experiment of exoskeleton, the assumption that the angle of lower extremity joint changes smoothly in sagittal plane during normal gait is put forward. Referring to the definition of surface roughness and introducing Gao Si filter, the parameter definition and calculation method of human-computer coupling roughness of lower extremity exoskeleton are proposed. According to this method, the ergonomic efficacy of exoskeleton of one lower extremity was calculated and evaluated quantitatively in three gaits. This evaluation method can be used as a general evaluation index of exoskeleton of lower extremity. The research on exoskeleton of lower extremity in China has passed the initial stage, so the basic research on exoskeleton of lower extremity in this paper can be used for the subsequent structural design. Control strategy and man-machine efficacy evaluation provide the basis and reference basis.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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