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为了改善外骨骼穿戴舒适性,本文提出了一种基于人机物理交互优化的外骨骼设计方法。该方法通过设计外骨骼髋关节,使其保证人体髋关节运动时外骨骼髋关节转动中心能跟随人体髋关节转动中心的运动轨迹。当人体髋关节运动时,通过实验测量和计算可以得到其转动中心轨迹。本文设计的外骨骼髋关节运动机构能在人体髋关节屈曲/伸展和外展/内收时,保证转动中心都能够包容人体髋关节转动中心运动范围。同时,所设计的外骨骼髋关节被应用到下肢步行康复训练外骨骼中。通过人机接触力实验可知,与传统设计外骨骼髋关节进行相比,本文设计的仿生髋关节外骨骼在髋关节屈曲/伸展和内收/外展时分别可以减小24.1%和76.0%的人机接触力。这一结果证明仿生设计髋关节外骨骼更具穿戴舒适性,更符合人机工程学的设计要求。最后,本文通过建立人机闭式链模型进一步分析了仿生设计对于人体髋关节内力的影响,并验证该设计能减少关节内力作用。
In order to improve the wearing comfort of exoskeleton, this paper presents a design method of exoskeleton based on human-computer interaction. By designing the exoskeleton hip joint, the method ensures that the center of the hip joint rotation center of the exoskeleton can follow the movement trajectory of the hip joint center of rotation when the hip joint is moved. When the human hip joint movement, through the experimental measurement and calculation can get the center of its trajectory. This design of the exoskeleton hip movement mechanism in the body when the hip flexion / extension and abduction / adduction, to ensure that the center of rotation can accommodate the range of motion of the human hip joint center of rotation. At the same time, the designed exoskeleton hip joint is applied to the lower extremity walking rehabilitation exoskeleton. Compared with the traditional designs of exoskeleton hip joints, the bionic hip exoskeleton designed in this paper can reduce the flexion / extension and adduction / abduction of hip by 24.1% and 76.0% respectively Human-machine contact force. This result proves that the bionic design of the hip exoskeleton is more comfortable to wear and more in line with the ergonomic design requirements. Finally, this paper further analyzes the influence of bionic design on the internal force of human hip joint by establishing closed-chain model of human-machine, and verifies that this design can reduce the effect of joint internal force.