| 针对步行平衡稳定性的外骨骼欠驱动髋关节设计 |
| |
| 引用本文： | 陈德伟.针对步行平衡稳定性的外骨骼欠驱动髋关节设计[J].教育技术导刊,2009,8(11):100-105. |
| |
| 作者姓名： | 陈德伟 |
| |
| 作者单位： | 1. 宁波工程学院 机械工程学院，浙江 宁波 315000；2. 浙江大学 流体动力与机电系统国家重点实验室，浙江 杭州 310027 |
| |
| 基金项目： | 国家自然科学基金青年基金项目（51805469）；浙江省自然科学基金项目（LQ15E050004） |
| |
| 摘 要： | 为改善脑卒中患者穿戴下肢外骨骼机器人进行步行康复训练时，步行平衡稳定性不足的问题，提出髋关节内收/外展自由度控制机理和设计方法，通过基于零力矩点理论的步行平衡稳定性分析，研究髋关节内收/外展主动运动对人机系统平衡的作用。通过设定欠驱动髋关节内收/外展运动自由度，改善人机系统步行平衡，并利用单电机驱动单元实现左右两侧髋关节内收/外展运动的协调控制，从而在运动安全的前提下提升步行平衡安全性。通过MATLAB与ADAMS仿真分析，分别验证步行平衡稳定性和欠驱动方案的有效节能性。仿真结果显示，欠驱动方案相比传统每个关节分别安装驱动的方案，扭矩降低了32.52%。该步行平衡解决方案与欠驱动设计方法对促进康复外骨骼机器人应用推广具有重要意义。
|
| 关 键 词： | 步行平衡稳定性 外骨骼 机器人 欠驱动 髋关节 |
| 收稿时间： | 2020-09-28 |
The Design of Exoskeleton Underactuated Hip Joint Based on Walking Balance Stability |
| |
| HU Jie,XU Ling-hui,YANG Wei,ZHENG Xiang-ming.The Design of Exoskeleton Underactuated Hip Joint Based on Walking Balance Stability[J].Introduction of Educational Technology,2009,8(11):100-105. |
| |
| Authors: | HU Jie XU Ling-hui YANG Wei ZHENG Xiang-ming |
| |
| Institution: | 1. College of Mechanical Engineering， Ningbo University of Technology，Ningbo 315000， China；2. State Key Laboratory of Fluid Power and Electromechanical Systems，Zhejiang University，Hangzhou 310027，China |
| |
| Abstract: | A control mechanism about the adduction of hip joint’s motion degree of freedom and its design method was put forward， which is aimed at the problem that those patients who suffer from stroke have insufficient stability in walking balance during their walking rehabilitation training with lower extremity exoskeleton. According to the analysis about walking balance stability based on the zero moment point theory. The effect of hip adduction active exercise on the balance of human-machine system. By designing the degree of freedom of the underactuated hip joint adduction movement， the pedestrian balance of the human-machine system is improved， and a single motor driving unit is used to coordinate the adduction movement of the left and right hip joints， so as to improve the safety of walking balance on the premise of motion safety. By simulation analysis by MATLAB and ADAMS， the effective energy conservation of the walking balance stability and the under-driving scheme were verified respectively. Simulation result displayed that the underactuation scheme is installed separately from the conventional joints， and the torque is reduced by 32.52%. The walking balance solution and the underactuated design method are of great significance for promoting the application of rehabilitation exoskeleton robots. |
| |
| Keywords: | walking balance stability exoskeleton robot underactuation hip joint |
| 本文献已被 维普 等数据库收录！ |
| 点击此处可从《教育技术导刊》浏览原始摘要信息 |
| 点击此处可从《教育技术导刊》下载免费的PDF全文 |
