可穿戴式下肢康复外骨骼运动学分析及仿真

发布时间：2018-05-15 16:30

本文选题：外骨骼 + 运动学分析　；参考：《长春理工大学》2014年硕士论文

【摘要】：近年来,因交通事故发生率的增加,造成肢体损伤的人数也随着增加,同时,我国正进入老龄化社会,在老龄化人群中,神经系统疾病或者心脑血管疾病造成了很多人肢体偏瘫。临床证明利用康复器械,可以帮助肢体损伤患者恢复肢体运动功能。因此本文以可穿戴式下肢康复外骨骼为研究对象,主要的研究内容如下：在分析人类下肢各关节运动特征及自由度的基础上,对可穿戴式下肢康复外骨骼进行总体方案设计和自由度分配,并通过Solidworks建立三维模型。在杆件坐标系下,利用齐次坐标变换法对其进行正运动学建模和分析。根据下肢各关节的几何关系进行逆运动学求解。利用基于ZMP稳定判据的方法对其进行离线的步态规划,规划出质心和踝关节的运动轨迹。结合逆运动学公式,推导出行走过程中各关节角随时间变化的函数。利用图形数据传递技术,将三维模型转化为虚拟样机ADAMS模型。根据步态规划得到的各关节函数,利用样条插值函数AKISPL驱动虚拟样机各关节运动以实现可穿戴式下肢康复外骨骼稳定行走。通过测量各步态阶段的质心和踝关节的轨迹及各关节旋转角度与时间的函数关系,验证结构设计和步态规划的正确性。利用三维动态捕捉系统捕捉人体下肢各个关节的运动轨迹,用于验证步态规划对人类的可行性和适用性。
[Abstract]:In recent years, due to the increase in the incidence of traffic accidents, the number of people with physical injuries is also increasing. At the same time, our country is entering an aging society, in the aging population, Neurological diseases or cardiovascular and cerebrovascular diseases cause hemiplegia in many people. It has been proved that rehabilitation instruments can help patients with limb injury to recover limb motor function. Therefore, this paper takes the wearable exoskeleton of lower extremity rehabilitation as the research object, the main research contents are as follows: Based on the analysis of the movement characteristics and degrees of freedom of human lower extremity joints, the overall scheme design and freedom distribution of wearable lower limb rehabilitation exoskeleton were designed, and the three-dimensional model was established by Solidworks. In the member coordinate system, the forward kinematics modeling and analysis are carried out by using the homogeneous coordinate transformation method. The inverse kinematics is solved according to the geometric relation of the joints of the lower extremities. The off-line gait planning method based on ZMP stability criterion is used to plan the motion trajectory of the center of mass and ankle joint. Combined with inverse kinematics formula, the function of joint angle changing with time during walking is deduced. The 3D model is transformed into a virtual prototype ADAMS model by means of graphic data transfer technology. According to the joint function obtained by gait planning, the spline interpolation function (AKISPL) is used to drive the motion of each joint in the virtual prototype to realize wearable lower limb rehabilitation exoskeleton walking stably. The correctness of structural design and gait planning is verified by measuring the trajectory of center of mass and ankle joint and the functional relationship between rotation angle and time of each joint in each gait stage. In order to verify the feasibility and applicability of gait planning, a three-dimensional dynamic capture system is used to capture the motion trajectories of the lower extremity joints of the human body.
【学位授予单位】：长春理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：R318.17

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