本文關(guān)鍵詞：下肢外骨骼助力機(jī)理與技術(shù)研究　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 下肢外骨骼 人體步態(tài) 控制策略 系統(tǒng)仿真 人機(jī)耦合

【摘要】：自二十一世紀(jì)以來,發(fā)達(dá)國(guó)家紛紛開展了下肢外骨骼的研究。下肢外骨骼的研究不僅有軍事意義,更有重大的社會(huì)意義,特別是即將步入老齡化社會(huì)的中國(guó)。為此,本文以下肢外骨骼系統(tǒng)為研究對(duì)象,對(duì)相關(guān)機(jī)理和技術(shù)加以研究。本文首先分析了平地行走的關(guān)節(jié)角度及地面廣義反作用力特征,并借助Opensim軟件求得下肢表面肌肉的肌肉激活度,然后通過概率神經(jīng)網(wǎng)絡(luò)對(duì)下肢關(guān)節(jié)運(yùn)動(dòng)趨勢(shì)進(jìn)行預(yù)測(cè),結(jié)果表明預(yù)判準(zhǔn)確率達(dá)到80%以上。接著進(jìn)行了下肢外骨骼的結(jié)構(gòu)設(shè)計(jì),分配了整體結(jié)構(gòu)的自由度,確定了系統(tǒng)的驅(qū)動(dòng)形式,完成了包含傳感器的布置、不同人群匹配性的完整的結(jié)構(gòu)設(shè)計(jì)。隨后基于Matlab和Adams的聯(lián)合仿真并結(jié)合人機(jī)交互模型,進(jìn)行了一般下肢外骨骼模型的擺動(dòng)腿仿真,對(duì)力矩放大控制和神經(jīng)網(wǎng)絡(luò)靈敏度放大控制的控制策略進(jìn)行了效果評(píng)估和實(shí)際情況的考量,得出后者更加實(shí)用的結(jié)論。最后結(jié)合下肢外骨骼穿戴的步態(tài)實(shí)驗(yàn),在此基礎(chǔ)上提出了人體正常步態(tài)時(shí)在矢狀面的下肢關(guān)節(jié)角度變化平滑的假設(shè),借鑒表面粗糙度的定義,并且引入高斯濾波,提出了下肢外骨骼人機(jī)耦合粗糙度的參數(shù)定義及計(jì)算方法,并且按照此方法定量計(jì)算并評(píng)價(jià)了三種步態(tài)時(shí)某下肢外骨骼的人機(jī)功效,該評(píng)價(jià)方法可以作為下肢外骨骼通用的評(píng)價(jià)指標(biāo)。國(guó)內(nèi)在下肢外骨骼的研究已跨過初步階段,所以本文對(duì)下肢外骨骼所做的基礎(chǔ)性研究可以為后續(xù)的結(jié)構(gòu)設(shè)計(jì),控制策略和人機(jī)功效評(píng)價(jià)提供基礎(chǔ)和參考依據(jù)。
[Abstract]:Since 21th century, developed countries have carried out research on exoskeleton of lower extremity. The study of exoskeleton of lower extremity is not only of military significance, but also of great social significance. In particular, China is about to enter an aging society. Therefore, the exoskeleton system of the lower extremity is the object of study in this paper. In this paper, firstly, the joint angle of walking on the ground and the characteristics of generalized reaction force on the ground are analyzed, and the muscle activation degree of the lower extremity surface muscle is obtained by Opensim software. Then the movement trend of lower extremity joint is predicted by probabilistic neural network. The result shows that the accuracy of prediction is more than 80%. Then the structural design of exoskeleton of lower extremity is carried out and the degree of freedom of the whole structure is allocated. The driving form of the system is determined, and the complete structure design including sensor layout and different crowd matching is completed. Then, the joint simulation based on Matlab and Adams is carried out and the human-computer interaction model is combined. The swing leg simulation of general exoskeleton model of lower limb is carried out, and the control strategies of torque amplification control and neural network sensitivity amplification control are evaluated and the actual situation is considered. Finally, combining with the gait experiment of exoskeleton, the assumption that the angle of lower extremity joint changes smoothly in sagittal plane during normal gait is put forward. Referring to the definition of surface roughness and introducing Gao Si filter, the parameter definition and calculation method of human-computer coupling roughness of lower extremity exoskeleton are proposed. According to this method, the ergonomic efficacy of exoskeleton of one lower extremity was calculated and evaluated quantitatively in three gaits. This evaluation method can be used as a general evaluation index of exoskeleton of lower extremity. The research on exoskeleton of lower extremity in China has passed the initial stage, so the basic research on exoskeleton of lower extremity in this paper can be used for the subsequent structural design. Control strategy and man-machine efficacy evaluation provide the basis and reference basis.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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