助力下肢外骨骼行走过程运动学研究
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摘要
助力下肢外骨骼在行走过程的各关节角的运动学规律是研究下肢助力外骨骼的关键,其行走动作与人体行走动作有着高度的偕行性。通过光学捕捉系统结合高速摄像机获得人体不同状态下行走动作的空间坐标点,建立人体行走的棍图模型,基于MATLAB平台拟合负重为0kg、10kg、30kg、50kg行走速度为3km/h、4km/h、4.8km/h、6km/h的关节角运动学方程,结合西南交通大学第二代助力下肢外骨骼计算膝关节处驱动液压缸的线速度。实验结果为液压缸的选型、驱动控制系统的设计提供了理论基础。
During Power-assisted Lower Extremity Exoskeleton walking process,the motion law of each joint angle is the key to research it,which has the synchronization to human's walking motion. This article achieves space coordinate point under each condition of human walking motion by the optical capture system with the high-speed camera. To set up human walking motion stick diagram model. To fit each joint angle's motion equation with 0 kg,10 kg,30 kg,50 kg weight combined 3 km/h,4 km/h,4.8 km/h,6 km/h walking speed based on MATLAB platform. To calculate the linear velocity of knee joint's hydraulic cylinder based on the second generation Power-assisted Lower Extremity Exoskeleton of Southwest Jiaotong University. The result of this research provides theoretical basis for the model selection of hydraulic cylinder and the design of drive control system.
During Power-assisted Lower Extremity Exoskeleton walking process,the motion law of each joint angle is the key to research it,which has the synchronization to human's walking motion. This article achieves space coordinate point under each condition of human walking motion by the optical capture system with the high-speed camera. To set up human walking motion stick diagram model. To fit each joint angle's motion equation with 0 kg,10 kg,30 kg,50 kg weight combined 3 km/h,4 km/h,4.8 km/h,6 km/h walking speed based on MATLAB platform. To calculate the linear velocity of knee joint's hydraulic cylinder based on the second generation Power-assisted Lower Extremity Exoskeleton of Southwest Jiaotong University. The result of this research provides theoretical basis for the model selection of hydraulic cylinder and the design of drive control system.
引文
[1]王秀玲.人机工学的应用与发展[J].机械设计与制造,2001(1):151-152.(Wang Xiu-ling.Human engineering’s application and development[J].Machinery Design&Manufacture,2001(1):151-152.)
[2]陈占伏,杨秀霞,顾文锦.下肢外骨骼机械结构的分析与设计[J].计算机仿真,2008(8):238-241+334.(Chen Zhan-fu,Yang Xiu-xia,Gu Wen-jin.Analysis and design of mechanical framework of lower extremity exoskeleton[J].Computer Simulation,2008(8):238-241+334.)
[3]Chu A,Kazerooni H,Zoss A.On the biomimetic design of the berkeley lower extremity exoskeleton(BLEEX)[C].2005 IEEE International Conference on Robotics and Automation,April 18,2005-April 22,2005,2005:4345-4352.
[4]Talpasanu I,Krishnan S.Exoskeleton systems kinematics analysis with graph-matroid approach[C].Automation Science and Engineering(CASE),2011 IEEE Conference on,2011:822-827.
[5]Kok-Meng L,Donghai W.Design analysis of a passive weight-support lower-extremity-exoskeleton with compliant knee-joint[C].Robotics and Automation(ICRA),2015 IEEE International Conference on,2015:5572-5577.
[6]Ghan J,Kazerooni H.System identification for the berkeley lower extremity exoskeleton(BLEEX)[C].2006 IEEE International Conference on Robotics and Automation,ICRA 2006,May 15,2006-May 19,2006,2006:3477-3484.
[7]Kazerooni H,Racine J L,Lihua H.On the control of the berkeley lower extremity exoskeleton(BLEEX)[C].Robotics and Automation,2005.ICRA 2005.Proceedings of the 2005 IEEE International Conference on,2005:4353-4360.
[8]Kiguchi K.A study on EMG-based human motion prediction for power assist exoskeletons[C].2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation,CIRA 2007,June 20,2007-June 23,2007,2007:190-195.
[9]杨宗林,曾亿山,王善杰.下肢外骨骼机器人结构设计和动力学仿真[J].机械设计与制造,2016(1):91-93+97.(Yang Zong-l in,Zeng Yi-shan,Wang Shan-jie.The structure design and dynamic simulation of lower extremity exoskeleton robot[J].Machinery Design&Manufacture,2016(1):91-93+97.)
[2]陈占伏,杨秀霞,顾文锦.下肢外骨骼机械结构的分析与设计[J].计算机仿真,2008(8):238-241+334.(Chen Zhan-fu,Yang Xiu-xia,Gu Wen-jin.Analysis and design of mechanical framework of lower extremity exoskeleton[J].Computer Simulation,2008(8):238-241+334.)
[3]Chu A,Kazerooni H,Zoss A.On the biomimetic design of the berkeley lower extremity exoskeleton(BLEEX)[C].2005 IEEE International Conference on Robotics and Automation,April 18,2005-April 22,2005,2005:4345-4352.
[4]Talpasanu I,Krishnan S.Exoskeleton systems kinematics analysis with graph-matroid approach[C].Automation Science and Engineering(CASE),2011 IEEE Conference on,2011:822-827.
[5]Kok-Meng L,Donghai W.Design analysis of a passive weight-support lower-extremity-exoskeleton with compliant knee-joint[C].Robotics and Automation(ICRA),2015 IEEE International Conference on,2015:5572-5577.
[6]Ghan J,Kazerooni H.System identification for the berkeley lower extremity exoskeleton(BLEEX)[C].2006 IEEE International Conference on Robotics and Automation,ICRA 2006,May 15,2006-May 19,2006,2006:3477-3484.
[7]Kazerooni H,Racine J L,Lihua H.On the control of the berkeley lower extremity exoskeleton(BLEEX)[C].Robotics and Automation,2005.ICRA 2005.Proceedings of the 2005 IEEE International Conference on,2005:4353-4360.
[8]Kiguchi K.A study on EMG-based human motion prediction for power assist exoskeletons[C].2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation,CIRA 2007,June 20,2007-June 23,2007,2007:190-195.
[9]杨宗林,曾亿山,王善杰.下肢外骨骼机器人结构设计和动力学仿真[J].机械设计与制造,2016(1):91-93+97.(Yang Zong-l in,Zeng Yi-shan,Wang Shan-jie.The structure design and dynamic simulation of lower extremity exoskeleton robot[J].Machinery Design&Manufacture,2016(1):91-93+97.)