本文選題：外骨骼 + 運動學分析��； 參考：《長春理工大學》2014年碩士論文

【摘要】：近年來,因交通事故發(fā)生率的增加,造成肢體損傷的人數(shù)也隨著增加,同時,我國正進入老齡化社會,在老齡化人群中,神經(jīng)系統(tǒng)疾病或者心腦血管疾病造成了很多人肢體偏癱。臨床證明利用康復器械,可以幫助肢體損傷患者恢復肢體運動功能。因此本文以可穿戴式下肢康復外骨骼為研究對象,主要的研究內(nèi)容如下： 在分析人類下肢各關節(jié)運動特征及自由度的基礎上,對可穿戴式下肢康復外骨骼進行總體方案設計和自由度分配,并通過Solidworks建立三維模型。在桿件坐標系下,利用齊次坐標變換法對其進行正運動學建模和分析。根據(jù)下肢各關節(jié)的幾何關系進行逆運動學求解。 利用基于ZMP穩(wěn)定判據(jù)的方法對其進行離線的步態(tài)規(guī)劃,規(guī)劃出質(zhì)心和踝關節(jié)的運動軌跡。結(jié)合逆運動學公式,推導出行走過程中各關節(jié)角隨時間變化的函數(shù)。利用圖形數(shù)據(jù)傳遞技術,將三維模型轉(zhuǎn)化為虛擬樣機ADAMS模型。根據(jù)步態(tài)規(guī)劃得到的各關節(jié)函數(shù),利用樣條插值函數(shù)AKISPL驅(qū)動虛擬樣機各關節(jié)運動以實現(xiàn)可穿戴式下肢康復外骨骼穩(wěn)定行走。通過測量各步態(tài)階段的質(zhì)心和踝關節(jié)的軌跡及各關節(jié)旋轉(zhuǎn)角度與時間的函數(shù)關系,驗證結(jié)構設計和步態(tài)規(guī)劃的正確性。 利用三維動態(tài)捕捉系統(tǒng)捕捉人體下肢各個關節(jié)的運動軌跡,用于驗證步態(tài)規(guī)劃對人類的可行性和適用性。
[Abstract]:In recent years, due to the increase in the incidence of traffic accidents, the number of people with physical injuries is also increasing. At the same time, our country is entering an aging society, in the aging population, Neurological diseases or cardiovascular and cerebrovascular diseases cause hemiplegia in many people. It has been proved that rehabilitation instruments can help patients with limb injury to recover limb motor function. Therefore, this paper takes the wearable exoskeleton of lower extremity rehabilitation as the research object, the main research contents are as follows: Based on the analysis of the movement characteristics and degrees of freedom of human lower extremity joints, the overall scheme design and freedom distribution of wearable lower limb rehabilitation exoskeleton were designed, and the three-dimensional model was established by Solidworks. In the member coordinate system, the forward kinematics modeling and analysis are carried out by using the homogeneous coordinate transformation method. The inverse kinematics is solved according to the geometric relation of the joints of the lower extremities. The off-line gait planning method based on ZMP stability criterion is used to plan the motion trajectory of the center of mass and ankle joint. Combined with inverse kinematics formula, the function of joint angle changing with time during walking is deduced. The 3D model is transformed into a virtual prototype ADAMS model by means of graphic data transfer technology. According to the joint function obtained by gait planning, the spline interpolation function (AKISPL) is used to drive the motion of each joint in the virtual prototype to realize wearable lower limb rehabilitation exoskeleton walking stably. The correctness of structural design and gait planning is verified by measuring the trajectory of center of mass and ankle joint and the functional relationship between rotation angle and time of each joint in each gait stage. In order to verify the feasibility and applicability of gait planning, a three-dimensional dynamic capture system is used to capture the motion trajectories of the lower extremity joints of the human body.
【學位授予單位】：長春理工大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：R318.17

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