摘要
目前被动式外骨骼辅助的运动姿态较为单一,设计多运动复合型被动式外骨骼可以扩展此类装备的适用性。通过分析不同运动状态下人体姿态变化的几何规律,在储能阶段采用弹性元件储存运动中人体动能与重力势能损失,在助力阶段释放能量以实现运动助力,从而进行外骨骼产品的原型设计,并通过智能传感系统实时监测人体动力学与肌肉活动数据。建立D-H参数模型,对外骨骼进行人机兼容性分析。对6名被试者进行外骨骼穿戴实验,结合动力学与肌电分析,评估外骨骼的效能。人机兼容性分析结果显示外骨骼在矢状面内的行走空间可以覆盖人体踝关节运动轨迹,动力学仿真结果显示穿戴外骨骼后,行走和蹲起运动关节做功总量分别减小了20.17%和19.49%,表面肌电结果显示穿戴外骨骼后下肢主要肌肉贡献率分布规律有一定程度的变化,总体积分值明显降低。通过智能交互系统设计,用户能直观地了解身体运动状态与控制助力程度,获得更好的使用体验。智能人机交互实验验证外骨骼对人体运动辅助的有效性,为相关领域的研究提供实例化参考。
At present,the motion posture assisted by most of passive exoskeletons is single posture,and the design of multi-motion composite passive exoskeleton can expand the applicability of this type of equipment.By analyzing the geometric law of human body posture changes under different motion states,elastic elements are used to store the human body's kinetic energy and gravitational potential energy loss during the energy storage phase,and the energy is released in the assist phase to achieve sports assistance,so as to carry out the prototype design of the exoskeleton product,and real-time monitor of human body dynamics and muscle activity data through an intelligent sensor system.The D-H parameter model is established,and the compatibility of man-machine of the exoskeleton is analyzed.The exoskeleton wearing experiment was performed on 6 subjects,combined with dynamics and electromyography data analysis,to evaluate the effectiveness of the exoskeleton.The analysis of human-machine compatibility shows that the walking space of the exoskeleton in the sagittal plane can cover the motion trajectory of the human ankle joint.The dynamics simulation results show that after wearing the exoskeleton,the total work done by the joints is reduced by 20.17%and 19.49%during walking and squatting movements,respectively.The surface electromyography results show that after wearing the exoskeleton,the main muscles contribution rate has a certain degree of change,and the overall score is significantly reduced.Through the mobile intelligent interactive system,the user can understand the body motion state and control the assistance,and then acquire a better user experience.The intelligent human-computer interaction experiment verifies the effectiveness of the exoskeleton prototype for human motion assistance,and provides an example reference for research in related fields.
作者
曹恩国
徐祺
沈峰岑
胡伟峰
CAO Enguo;XU Qi;SHEN Fengcen;HU Weifeng(School of Design,Jiangnan University,Wuxi 214122)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2023年第11期43-53,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金(51505191)
江苏省社会科学基金(16ZHC003)
江苏省自然科学基金(BK20150161)
江苏省“六大人才高峰”高层次人才项目(RJFW-007)
江苏高校哲学社会科学研究重大项目(2021SJZDA113)资助项目。
关键词
原型设计
下肢外骨骼
智能交互
动力学仿真
表面肌电
prototype design
lower limb exoskeleton
intelligent interaction
dynamic simulation
surface electromyography
