【摘要】 设计了一种平衡可控变刚度主动型踝关节假肢,通过调节弹簧的预紧力,实现不同行走模式下的变刚度运动。首先采用Motion Analysis步态分析系统进行人体行走步态实验的研究,获得踝关节行走过程中的关节角度及关节力矩,为踝关节假肢设计提供理论依据;其后,进行踝关节假肢机构方案分析,利用电动机带动曲柄摇杆机构,并组合弹簧进行踝关节假肢的机构设计;最后,采用ADAMS软件进行踝关节假肢虚拟样机仿真,研究不同刚度系数对踝关节假肢运动输出的影响,仿真结果表明踝关节假肢有较好的动力输出效果,并通过实验验证了机构设计的合理性。更多还原

【Abstract】 A powered ankle prosthesis was designed based on mechanically adjustable compliance and controllable equilibrium position actuator. Changing the adjustable spring pre-tightening force in order to complete the variable stiffness movement in different walking modes. First,the ankle angle and torque during the walking experiments were obtained to provide a theoretical basis for the design,with the system of motion image acquisition and force measurement which was developed by Motion Analysis company. Then the analysis of ankle prosthesis was the motor drives the crank connecting rod mechanism and the mechanism was combined with the spring. In the last,the virtual prototype analysis was designed by ADAMS showed that the ankle prosthesis had the function of good transmission of power and did research on the influence of different stiffness on ankle prosthesis. And the experiments reveal the results of the simulation indicated the rationality of the design.更多还原