摘要
基于半失能老人步态特征,建立了人体下肢运动学模型,推导了人体行走动力学方程,在此基础上,设计了面向半失能老人的无动力下肢外骨骼结构。为了便于用户穿戴,基于人体工程学,完成了外骨骼绑带等柔性部件结构的设计及外观设计。为验证文中设计的外骨骼性能及可靠性,加工了无动力下肢外骨骼样机,并进行了相关测试及实验。
Based on characteristics of semi disabled elderly,this paper establishes the kinematic model of human lower limb,and derives the dynamic equation of human walking.On this basis,a powerless lower limb exoskeleton structure for the semi-disabled elderly is designed.In order to make it easy for users to wear,structure of flexible components such as exoskeleton bandage is designed and appearance design of the optimized powerless lower limb exoskeleton is carried out based on ergonomics.In order to verify the performance and reliability of the exoskeleton designed,a prototype of powerless lower limb exoskeleton is processed,and relevant tests and experiments are carried out.
作者
李刚
宋振东
邹风山
孙乾城
李加平
LI Gang;SONG Zhendong;ZOU Fengshan;SUN Qiancheng;LI Jiaping(Center Research Institute,SIASUN Robot&Automation Co.,Ltd.,Shenyang 110169,China;School of Mechatronic Engineering,Shenzhen Polytechnic,Shenzhen 518055,China)
出处
《机械工程师》
2020年第12期81-88,共8页
Mechanical Engineer
基金
国家重点研发计划(2018YFB1307000)。
关键词
运动分析
无动力外骨骼
结构设计
柔性部件
外观设计
kinematic analysis
powerless lower limb exoskeleton
structure optimization
flexible component
appearance design
