助力机器腿仿真研究

助力机器腿是为腿部受过轻度损伤，或者因为偏瘫和脑瘫，不能稳定行走的患者设计的一种辅助行走的机器人。建立了基于广义坐标的助力机器腿逆运动学模型，采用三次样条插值规划人体的髋关节和踝关节运动轨迹，结合人体运动的几何约束和运动约束，推导出人体腿部参数化步态模型。采用图像分析方法，得到了人体行走过程中髋关节和踝关节的轨迹，通过比较分析，验证了理论分析的正确性。在Matlab／Simulink，SimMechanics下，进行了机械腿仿真分析，并给出了仿真结果。

Simulative research on assistant robotic legs

The assistant robotic leg is a kind of walking assistant robot,which is designed for patients who were lightly injured in the leg or patients who couldn't walk steadily on account of hemi-paralysis or brain paralysis.The inverse kinematics model of assistant robotic leg was established based on generalized coordinates.The kinematical locus of hip joint and ankle joint of human body was programmed by adopting the cubic spline interpolation,and combining with geometric constraint and kinematical constraint of motion of human body,the parameterized gait model of human leg was derived.By adopting the image analytic method the locus of hip joint and ankle joint during the course of human walking was obtained,and by means of comparison and analysis the correctness of theoretical analysis was verified.The simulative analysis of robotic leg was carried out under Matlab/Simulink and SimMechanics soft wares,and the result of simulation was presented.