下肢步态矫形器的机构设计

研究表明下肢减重康复训练可以很好地提高中枢神经损伤以及中风患者的步行能力。在步态训练过程中,康复师以人工方式帮助患者移动下肢。然而这种方式有赖于康复师的经验和体能,有很大的局限性。现基于人体下肢运动机理和减重步行训练的原理,设计一种下肢步态矫形器,筒述了矫形器的设计以及自由度的选择。该矫形器单腿机构具备两个自由度,并由滚珠丝杠式电动直线驱动器驱动。还探讨了部分重要部件的设计。     

基于动作捕捉技术对仿人机器人运动学分析与步态仿真

以人类的构造为原型,基于仿生学的角度,设计了一种下肢单腿7自由度的仿人机器人.通过三维光学动作捕捉系统采集人体正常行走时的运动位置坐标,分析数据,获取人体步态行走时的关节角度及下肢各关节力矩变化规律;建立了下肢7自由度运动学模型并进行逆运动学分析,求解出下肢各关节角度的变化情况,并根据步态规划求解出仿人机器人步行运动过程中下肢各关节转动角度;在UG环境中建立下肢7自由度的仿人机器人三维模型,并利用多体动力学软件Adams进行动力学仿真,结合步态运动规划求解出的角度变化情况对仿真参数进行设置,通过虚拟样机完成仿人机器人的步态行走,并将仿真数据和动作捕捉实验获取的数据结果进行对比.研究结果显示,仿人机器人能够实现稳定的步态行走,确认了整体建模思路、运动学分析以及动力学仿真的准确性.以实验结果为基准,仿真所获得的髋关节和膝关节力矩值相对于实验值的相对误差分别为6.7％和9.6％,均在合理的范围内,为仿人机器人结构设计和电机选型提供了依据.     

可穿戴型下肢外骨骼助力机器人设计与研究

为拓展人体下肢关节机能,完成特定环境下的人机协同作业任务,介绍了一种可穿戴型下肢外骨骼助力机器人。在研究人体行走特点和下肢助力需求基础上,实现了外骨骼的机械结构设计与建模计算,针对外骨骼作业特点设计了电液伺服助力系统;通过虚拟样机运动仿真与外骨骼行走实验,匹配了驱动器与外骨骼的运动范围并优化,通过外骨骼辅助人体辅助站立实验验证了外骨骼与人体下肢运动范围匹配性及助力效果等,实验结果表明外骨骼助力机器人设计可行。     

下肢步态矫形器轨迹控制设计

为了模拟正常人的行走步态,设计了具有外骨骼结构的动力步态矫形器。采用LabVIEW软件和多功能数据采集卡以及交流伺服平台,完成了下肢步态矫形器步态轨迹的半闭环控制,同时介绍了步态生成方法以及软件的设计。研究结果表明,步态矫形器能够较好地复原正常人的行走步态,并已应用到下肢康复机器人的控制系统中。     

康复医学中人体行走活动的机构模拟

近年来,模拟人类步行活动的机构逐渐受到重视,出现了多种用于行走机器人的步行机构。从下肢截瘫患者行走功能重建的特殊要求出发,借鉴人体膝关节屈伸机理,提出一种外形、尺度均与人体下肢相近的平面多杆步行机构。该机构能近似模拟人体髋、膝、踝并节在行走过程中的屈曲和伸展活动,以该机构为主组成的体外动力型助行装置能带动患肢重新产生与政党步态相近的协调运动,达到行走和锻炼的双重目的。     

下肢康复机器人的结构设计与动力学分析

针对下肢运动损伤患者的康复需求,提出一种新型下肢外骨骼康复训练器,根据康复评定学中RLA分期法对人体正常步态的描述和人机工程学理论中的人体下肢尺寸及关节特点,对被动康复训练器的机构进行设计;使用SolidWorks建立三维样机模型,制造实物样机;并且建立运动学及动力学模型;通过Matlab仿真分析特出关节运动变化曲线,验证数学模型的正确性;并且通过ADAMS软件进行动力学仿真,验证模型的正常行走步态,并且得出关节角速度,关节角动量,关节力矩等变化曲线。然后分别选取RLA八分法中8个关键时期点的数据,将理论计算和模拟仿真的结果进行比较,分析误差原因。验证了运动模型的正确性,为驱动控制提供参考依据。     

一种下肢外骨骼助行康复机器人及康复评价方法

针对下肢瘫痪患者的康复训练需求,设计了一种下肢外骨骼助行康复机器人。描述了外骨骼机器人的机械结构。设计了基于关节角位移的闭环控制系统,将VICON运动捕捉系统采集的正常人体下肢运动关节角作为参考输入信息,控制受试者穿戴外骨骼进行行走、上下台阶动作。完成系统调试后,采用VICON运动捕捉系统捕捉受试者在该控制系统下的步态,并与正常人体步态作对比,验证了控制算法的正确性。定义了下肢康复评价标准RMP,使用设计的外骨骼康复机器人进行患者跟踪康复训练实验,验证了助行康复机器人的有效性。     

下肢外骨骼虚拟样机设计研究

步态分析是外骨骼机器人设计中不可或缺的技术环节。以人体步态运动规律作为下肢外骨骼运动姿态控制的基础,有利于实现良好的人机匹配。采用Vicon运动分析系统进行了运动学实验与分析。在人机交互的基础上,拓展人的运动功能,因此在下肢功能障碍患者康复训练、老年人及正常人助力行走、单兵装备中获得广泛关注与应用。以人机功能匹配为设计出发点,采用Vicon运动分析系统进行了步态行走实验,以步态参数作为下肢外骨骼运动控制依据。通过ADMAS运动仿真与拉格朗日方程计算结合的方式,得出动力学参数。进而完成了一款兼顾行走助力功能与低成本的下肢外骨骼虚拟样机设计。     

下肢外骨骼负载携行控制方法研究

对人自然行走的步态运动规律进行了5个步态相位划分,并通过人体动作捕获试验获得行走过程中下肢髋关节和膝关节角度变化规律。结合髋关节与膝关节姿态运动规律建立膝关节外骨骼运动数学模型,从理论上分析负载携行系统的运动特性,给出位姿随动控制时的液压缸动态负载参考值。利用伺服阀对液压缸位移进行伺服控制,设计液压缸位移反馈PID控制律,实现携行系统在不同负重、不同位姿变化条件下人机耦合助力随动控制需求。通过重载携行试验表明:外骨骼能够实现50 kg以上人机重载携行,试穿员具有明显的省力效果。     

下肢外骨骼助力机器人本体结构设计与运动学分析

下肢外骨骼助力机器人是一种可以拓展人体关节机能,并可在特殊环境下作业的人机共融型机器人。基于人体下肢生物力学特点,阐述了下肢外骨骼助力机器人的机构设计原理及过程,分析了外骨骼机构的运动学关系,通过ADAMS匹配外骨骼与关节驱动范围并进行了机构优化,可以完成人体的代表性深蹲动作,为外骨骼助力行走留有较大的关节运动裕量,虚拟样机联合仿真也验证了外骨骼助力机器人的设计可行性。     

A two-degree-of-freedom motor-powered gait orthosis for spinal cord injury patients

A number of orthoses have been developed to restore stance and walking in paraplegic subjects. Compliance, however, has been limited, mainly owing to walking effort. Use of the forces produced by actuators is an effective way to solve the problem of the considerable effort required for orthotic gait, namely high muscular effort and high energy expenditure. The purpose of the present study was to investigate the effects of assistance by external actuators on the orthotic gait of spinal cord injury (SCI) patients. Two kinds of linear actuator were developed by using direct current (d.c.) motors for assisting the knee and hip joint of a gait orthosis. They were mounted on the knee and hip joint of a commercial advanced reciprocating gait orthosis (ARGO), and a new two-degree-of-freedom externally powered gait orthosis was thus developed. The orthosis was assessed through inter-subject experiments on five male adult complete SCI patients. Owing to the short training period available for the assisted gait, simultaneous operation of both joint actuators was not conducted: either the knee actuation or the hip actuation was executed only. Thus, the knee actuator and the hip actuator were assessed with a T12 subject and with subjects for T5, T8, T11, and T12 respectively. The motions of the gaits, assisted by the linear actuators, were measured by a Vicon 370 system, and the general gait parameters and compensatory motions were evaluated. Results demonstrated that (a) all subjects could walk without falling, assisted either by the knee or the hip actuator; (b) both the knee and hip joint actuator increased the gait speed and the step length; (c) the knee flexion produced by the orthosis improved the dynamic cosmesis of walking; and (d) lateral compensatory motions as well as vertical ones tended to decrease when the hip joint was assisted, which could contribute to a reduction in walking effort.     

Reciprocating gait prosthesis for the bilateral hip disarticulation amputee.

This paper describes the design, manufacture and use of a new prosthesis which produced reciprocating gait for a bilateral hip disarticulation amputee. A special mechanism used the hip extension moment during weight bearing to drive the contralateral limb through the swing phase. The user rapidly attained efficient and safe reciprocating gait, together with simple donning and doffing. The success of this project has major implications for hip disarticulation amputees in terms of profound improvements of their independence and self-esteem.     

基于偏置输出3-RRR+(S-P)球面并联机构的仿生髋关节

首先以偏置输出的3-RRR+(S-P)仿生关节机构为原型机构,依据仿生原则并参照人体股骨结构,确定关节机构的偏置角。然后,提出关节机构工作空间与人体髋关节运动空间相协调的设计原则,进而确定关节机构的安装定位角度,完成人形机器人髋关节设计;建立仿生关节空间与机构空间的映射关系,并对该髋关节的运动学正反解进行求解。最后,通过数值计算证明关节机构可实现人体基本运动,同时使用Xsens Technologies公司的可穿戴式完全无线3D身体惯性跟踪仪及磁性运动跟踪器,采集人体髋关节在实际运动状态下的位姿信息,将获取信息经映射关系转换和反解变换,导入ADAMS模型中进行校验,进一步验证了建立的映射关系、安装定位角度及正反解的正确性。     

下肢外骨骼伺服电机驱动控制方案设计

介绍了可穿戴式下肢外骨骼运动总体控制方案。针对人体髋关节和膝关节运动机理,采用了盘式伺服电机驱动二自由度下肢外骨骼模拟人体下肢摆腿运动控制技术来提高关节运动的响应性能,同时利用4个三维力传感器分别测量人大腿和小腿与外骨骼相互作用力,可用于外骨骼“人主机辅”控制模式算法设计中。在外骨骼2个关节处利用编码器获得关节角度、角速度信息既可用于外骨骼拉格朗日模型参数辨识,也可以作为反馈控制信号用于外骨骼“机主人辅”控制模式中。下位机采用LabVIEW驱动NI主控器实现信号传输与控制,上位机采用MATLAB/Simulink环境设计反馈控制算法与下位机进行实时通信,保证可穿戴式下肢外骨骼能够完成两种运动控制模式的目标,同时提高试穿员的可穿戴舒适性。     

Contributions of the lower extremity joint on the support moment in normal walking and in unexpected step-down walking

ARelative contributions of lower extremity joints on the support moment were investigated in this study Three-dimensional gait analyses were performed in normal walking and in unexpected step-down walking For both gait studies, inverse dynamics were performed to obtain each joint moment of the lower extremity, which was applied to the forward dynamics simulation to determine the contributions on the support moment at different phases of walking The forward dynamic simulation results showed that, in normal walking, the ankle plantar flexois contributed significantly during single-limb-support However, the ankle plantar flexors, knee extensois and hip extensors worked together duimg double-limb-support In unexpected step-down walking, the important contributors on the support of the body during single-limb-support were not only ankle plantar flexors but also knee extensors This study, analyzing the relative contributions of the lower limb joint moments for the body support, would be helpful to understand diffetent unexpected walking conditions and compensatory mechanisms for various pathological gaits     

Design method and verification of a hybrid prosthetic mechanism with energy-damper clutchable device for transfemoral amputees

Transfemoral amputees (TAs) have difficulty in mobility during walking, such as restricted movement of lower extremity and body instability, yet few transfemoral prostheses have explored human-like multiple motion characteristics by simple structures to fit the kinesiology, biomechanics, and stability of human lower extremity. In this work, the configurations of transfemoral prosthetic mechanism are synthesized in terms of human lower-extremity kinesiology. A hybrid transfemoral prosthetic (HTP) mechanism with multigait functions is proposed to recover the gait functions of TAs. The kinematic and mechanical performances of the designed parallel mechanism are analyzed to verify their feasibility in transfemoral prosthetic mechanism. Inspired by motion–energy coupling relationship of the knee, a wearable energy-damper clutched device that can provide energy in knee stance flexion to facilitate the leg off from the ground and can impede the leg’s swing velocity for the next stance phase is proposed. Its co-operation with the springs in the prismatic pairs enables the prosthetic mechanism to have the energy recycling ability under the gait rhythm of the knee joint. Results demonstrate that the designed HTP mechanism can replace the motion functions of the knee and ankle to realize its multimode gait and effectively decrease the peak power of actuators from 94.74 to 137.05 W while maintaining a good mechanical adaptive stability.     

二级半转机构运动特性分析及其轮腿构型设计

基于动物肢体运动的不对称性原理,提出一种可以模拟步行运动效果的二级半转机构,它由一级转臂、二级转臂和两个跨步杆构成.通过机构运动步态分析,得出其各关节需要满足的运动耦合关系.分析机构运动时的杆件几何关系,找出机构的运动驻点和固有特征线.基于二级半转机构的步行运动特性,提出两种探测车轮腿机构的构型方案:同侧偏置式和双侧分置式.其中,同侧偏置式轮腿机构构型方案采用二级串联的行星轮系来实现二级半转机构的运动特性,其一级转臂和二级转臂分别是所在行星轮系的行星架,同时它们又是齿轮箱体.通过机构干涉分析,得出轮腿机构不发生干涉的条件.双侧分置式轮腿机构构型方案采用双曲柄四杆机构来实现二级半转机构的固有运动几何特性.基于COSMOS Motion软件,对该二级半转轮腿机构进行虚拟样机运动仿真,获得机构各转动关节的运动轨迹曲线以及该轮腿机构的上下起伏度.通过轮腿机构样机行走试验,验证其具有良好的动态运动性能.     

外骨骼机器人系统中人体下肢关节力矩动态解算

利用下肢外骨骼关节位移传感器及惯性导航单元采集人体运动信息,计算获得下肢髋、膝关节的相对角度以及躯干的姿态和加速度,通过动力学逆解实时解算穿戴者运动所需的关节驱动力矩。在此过程中,利用人体五杆模型,对人体下肢的运动进行了运动学和动力学分析,通过Matlab/Simulink软件编程求解,得到了人体下肢关节在连续步态周期内关节力矩的变化,通过对比计算获得的支撑踝关节力矩值与足底力传感器实测值,证明了关节力矩求解方法的正确性,保障了外骨骼机器人能够根据此力矩对穿戴者提供助力。     

凸轮在下肢外骨骼驱动中的应用及分析

以功能设计为出发点,设计下肢外骨骼驱动机构,与从模拟人体腿部肌肉运动的角度出发设计下肢外骨骼驱动的思路有明显不同。由于下肢运动的复杂性,传统的驱动方式在控制上很好实现下肢的行走运动很困难且成本很高,而提出的用复杂的步态曲线来反求设计凸轮外轮廓并用其作为下肢助行器的驱动机构,巧妙的避开了下肢外骨骼中关于如何实现运动控制的难点问题。同时,针对其存在的不能适应步态实时调整的问题也进行了结构补偿,以使外骨骼机构能在一定范围内实现速度的变动。