【摘要】 背负的重物质心在矢状面上的大幅波动会对人体肩、背部产生冲击与振荡力，引起上肢肌肉疲劳。为缓解和减轻重物对人体腰背部的冲击与振荡力，提出了一款以髋关节驱动的重物质心自适应调节背负外骨骼。以人体五杆模型为研究对象，运用D-H法建立人体-重物系统与人体-外骨骼-重物系统中重物质心运动学模型并对比重物质心轨迹，基于牛顿-欧拉法建立人体动力学模型与人机动力学模型，获得人体-重物系统与人体-外骨骼-重物系统中人体肩、背部受力的变化以及腰椎、髋、膝关节力矩的变化，并利用生物力学软件OpenSim进行了验证。运动学、动力学分析及软件仿真表明了该外骨骼降低了重物质心的波动，改善了各关节的力矩分布，提升了负重性能。更多还原

【Abstract】 The large oscillation of the weight center on the sagittal plane can produce shock and oscillating force on the shoulders and back of the human body, which can cause muscle fatigue in the upper limbs. To alleviate the impact and oscillating force, a hipjoint driven backpack exoskeleton with adaptive adjustment of the weight-gravity center is proposed. Based on the five-bar model of the human body, the kinematic model of the gravity center in the human-weight system and the human-exoskeleton-weight system is established by the D-H method to analyze the trajectory of the gravity center. Based on the Newton-Euler method, the human dynamics model and the human-exoskeleton dynamics model are established. The changes in the human shoulder back forces and the lumbar, hip, and knee joint moments are obtained in the human-weight and human-exoskeleton-weight systems. Results are validated by the software OpenSim. Kinematics, dynamics, and software simulation show that the exoskeleton reduces the fluctuation of the gravity center, improves the torque distribution of each joint, and improves the load-bearing performance.更多还原