基于CPG的下肢假肢步态规划及运动仿真

针对现有假肢产品体积庞大、步态质量不佳的问题，将四连杆机构与磁流变阻尼器结合，设计了一种磁流变阻尼假肢膝关节，并基于磁流变阻尼假肢膝关节建立了下肢假肢虚拟样机模型。采用一组具有相位耦合关系的中枢模式发生器对下肢假肢进行了步态规划，得出了各关节的角度曲线。为验证所得关节角度曲线的合理性，利用SolidWorks Motion对下肢假肢进行了运动仿真，仿真结果表明：在关节角度曲线的驱动下，下肢假肢的步态特征具有良好的仿生性。

Gait Planning and Motion Simulation of Lower Limb Prosthesis Based on CPG

In view of the problems of large volume and poor gait quality of the existing prosthesis products, a type of prosthesis knee joint with magnetorheological (MR) damper was designed by combining the four-bar mechanism and MR damper, and a virtual prototype model of the prosthesis knee joint was established based on the MR damper.A group of central pattern generators (CPG) with phase coupling relationship were used to plan the gait of the lower limb prosthesis, and the angle curves of each joint were obtained.To verify the rationality of the joint angle curve obtained, SolidWorks Motion was used to simulate the lower limb prosthesis.The simulation results show that the gait characteristics of the lower limb prosthesis have good anthropomorphism driven by the joint angle curve.