摘要
通过提出一种准被动式储能下肢外骨骼的设计和分析,以缓解关键承载关节的负担,并且辅助人体行走.结合人体步态规律,采用串联弹性储能部件的方法实现在被动式的跟随人体运动的过程中进行能量的存储,达到节省人体能量消耗的目的.根据人体髋、膝关节在正常步态中的受力变化情况,通过设计相应的髋关节自适应系统和膝关节变刚度系统,并基于三态的能量控制策略来实现下肢外骨骼在支撑状态和摆动状态之间的柔顺切换.最终在不妨碍人体正常行走的前提下,实现行走助力.
A quasi-passive energy storage design and analysis of the lower extremity exoskeleton was proposed to alleviate the burden of the key bearing joints and assist walking.In combination with the gait law of the human body,the method of series elastic energy storage components was adopted to accomplish energy storage in the process of passive follow-up human body movement,thereby achieving the purpose of saving energy consumption of the human body.According to the change of the hip and knee joint in the normal gait,the corresponding hip joint adaptive system and the knee joint variable stiffness system were designed,and the smooth switching between the support state and the swing state of the lower extremity exoskeleton was achieved based on the three-state energy control strategy.In the end,walking assistance was obtained without hindering the normal walking of the human body.
作者
马建峰
王嘉明
陈晓
MA Jianfeng;WANG Jiaming;CHEN Xiao(College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China;The Quartermaster Engineering and Technology Research Institute,Institute of System Engineering,AMS.,PLA.,Beijing 100082,China)
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2021年第9期991-999,共9页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(51575007)。
关键词
准被动式
下肢外骨骼
变刚度
自适应
储能装置
机械设计
quasi-passive
lower limb exoskeleton
variable stiffness
adaptive
energy storage device
mechanical design
作者简介
马建峰(1979-),男,副教授,主要从事先进制造技术与装备及其自动化、机床动力学与测试评价方面的研究,E-mail:majianfeng@bjut.edu.cn;通信作者:陈晓(1971-),男,高级工程师,主要从事固体力学、人机工程方面的研究,E-mail:chenxiaoami@126.com。
