基于人机耦合的下肢外骨骼动力学分析及仿真

建立了一种包含人机交互力的人体-外骨骼模型,对人体和外骨骼分别采用7连杆的刚体模型进行建模,建立其D-H坐标系,得到人机模型在运动过程中的变化矢量.采用Newton-Euler方程建立动力学方程式,将人机之间的交互力简化为弹力,根据运动中人体和外骨骼质心之间的距离变化得到其相对位移,从而求得运动过程中交互力的大小.最终在ADAMS(automatic dynamic analysis of mechanical system)仿真软件中对动力学模型进行仿真,并将动力学方程得到的关节力矩代入到仿真中,验证了该人体-外骨骼模型的正确性.

Dynamic Analysis and Simulation of the Lower Extremity Exoskeleton Based on Human-Machine Interaction

A human body-exoskeleton model with human-machine interaction was established. The human body and the exoskeleton were modeled respectively with a 7-link rigid body mechanism, and the D-H coordinate system was introduced to obtain the change vectors of the human-machine model during motion. The Newton-Euler equations were used for dynamic analysis, and the body-exoskeleton interaction was simplified as elastic forces. According to the distance changes between the centroids of the body and the exoskeleton in motion, the relative displacements and the interaction forces were determined. Finally, the dynamic model was simulated with the ADAMS (automatic dynamic analysis of mechanical system), and the joint torques obtained from the dynamic equations were substituted into the simulation. The results verify the correctness of the body-exoskeleton model.