【摘要】 针对人体膝关节的转动瞬心规律以及人体在行走过程中在支撑相阶段需要外骨骼提供辅助支撑、摆动相阶段需要外骨骼具有较低刚度的特点,设计了一种带有智能张紧功能的自适应变刚度下肢外骨骼。详细描述了该外骨骼的结构和功能,包括大腿物理交互装置、变刚度膝关节装置、踝关节装置等。采用拉格朗日法建立了外骨骼膝关节转动部分的动力学模型,并以此为基础在MATLAB平台对外骨骼的承载性能进行优化仿真研究,得到了下肢外骨骼可起到有效的载荷分承效果的结果。该研究可为下肢外骨骼的研发提供理论参考。更多还原

【Abstract】 An adaptive lower extremity exoskeleton with intelligent tensioning function is designed for the transient centering of the human knee joint and the characteristics that the human body needs the exoskeleton to provide auxiliary support in the support phase and low stiffness in the swing phase during the walking process. The structure and functions of the exoskeleton are described in detail, including the thigh physical interaction device, the variable stiffness knee joint device, and the ankle joint device. The kinetic model of the knee rotation part of the exoskeleton was established by the Lagrangian method, and the load-bearing performance of the exoskeleton was optimized and studied on matrix laboratory(MATLAB) platform, and the results showed that the lower extremity exoskeleton can can provide an effective load-bearing effect, which can provide a reference for the development of lower extremity exoskeleton.更多还原