本文選題：牛頓-歐拉動力學(xué) + 兩桿動力學(xué)方程��； 參考：《航天醫(yī)學(xué)與醫(yī)學(xué)工程》2017年06期

【摘要】：目的建立人體下肢動力學(xué)方程,求解不同步態(tài)下關(guān)節(jié)部位的運動學(xué)參數(shù)與動力學(xué)參數(shù)。方法應(yīng)用牛頓-歐拉動力學(xué)方程建立人體下肢兩桿動力學(xué)方程。根據(jù)實驗者的人體參數(shù)計算得出方程中的人體大、小腿的長度、質(zhì)量、質(zhì)心位置以及轉(zhuǎn)動慣量,通過Vicon三維運動采集設(shè)備,對人體下肢不同速度步態(tài)下的運動學(xué)參數(shù)進行采集,得出了各種步態(tài)下髖、膝關(guān)節(jié)的關(guān)節(jié)角度隨時間變化曲線圖。將角度數(shù)據(jù)、足底壓力數(shù)據(jù)及下肢模型所需參數(shù)帶入方程中,通過Matlab軟件進行編程計算。將計算結(jié)果與ADAMS人體步態(tài)仿真結(jié)果進行力矩峰值的比較,驗證了所建立方程的正確性。結(jié)果求解計算出了不同步態(tài)下髖、膝關(guān)節(jié)的力矩。結(jié)論通過建立動力學(xué)方程求解關(guān)節(jié)力矩,實現(xiàn)了關(guān)節(jié)下肢力矩在不同步態(tài)下的精確求解,為外骨骼的關(guān)節(jié)力矩設(shè)定提供了依據(jù)。
[Abstract]:Objective to establish a dynamic equation of human lower limb and to solve the kinematic and dynamic parameters of joint under different gait. Methods the Newtonian-Euler kinetic equation was used to establish the two-bar dynamics equation of human lower extremities. According to the human body parameters of the experimenter, the length, mass, center of mass and moment of inertia of the human body and the calf in the equation were calculated. The kinematics parameters of the lower extremity gait with different velocities were collected by Vicon three-dimensional motion acquisition equipment. The curve of joint angle of hip and knee under various gait changes with time was obtained. Angle data, plantar pressure data and the parameters needed for the lower limb model are brought into the equation and programmed by Matlab software. The calculated results are compared with the results of ADAMS human gait simulation, and the correctness of the established equations is verified. Results the torque of hip and knee joint under different gait was calculated. Conclusion by establishing the dynamic equation to solve the joint torque, the joint lower limb torque can be accurately solved under different gait, which provides the basis for the joint torque setting of exoskeleton.
【作者單位】： 太原理工大學(xué)精密加工山西省重點實驗室;中國航天員科研訓(xùn)練中心航天醫(yī)學(xué)基礎(chǔ)與應(yīng)用國家重點實驗室;
【基金】：中國航天醫(yī)學(xué)工程預(yù)先研究課題(2013SY54B0502,FTKY201508) 航天醫(yī)學(xué)基礎(chǔ)與應(yīng)用國家重點實驗室研究基金(SMFA14B01)
【分類號】：R318.01;TP391.9
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本文編號：1835728