摘要
基于人体下肢关节运动机理与下肢生物力学,介绍了下肢关节的结构、功能和运动范围。对人体下肢进行简化,建立下肢简化数学模型,获得髋、膝和踝关节的姿态坐标方程。利用UG建立模型,使用Adams与OpenSim分别进行仿真测试,得到下肢关节角度、步高和步长曲线。借助Xsens DOT商用穿戴式传感器进行实验测试,仿真结果与实验测试结果相似,关节的角度、步高步长曲线与实际人体行走时测试结果吻合。表明简化模型和仿真测试合理有效,符合人体下肢行走过程。研究为运动测试、康复医疗和外骨骼设计等领域提供了一种简化研究方法。
Based on the motion mechanism and biomechanics of human lower limb joints,the structure,function and motion law of human bones and joints are introduced. A simplified mathematical model of human lower limbs is established,and the posture coordinate equations of hip,knee and ankle joints are obtained. UG is used to establish the model;Adams and OpenSim are used to simulate the test;the lower limb joint angle,step height and step length curves are obtained. With the help of Xsens DOT commercial wearable sensor,the experimental results show that the simulation results are similar to the experimental results,and the joint angle,step height and step length curves are consistent with the actual human walking test results. The results show that the simplified model and simulation test are reasonable and effective and they are in line with the walking process of human lower limbs. It provides a simplified research method for sports testing,rehabilitation medicine and exoskeleton design.
作者
周欣
刘更
韩冰
乔凯
刘晓丽
Zhou Xin;Liu Geng;Han Bing;Qiao Kai;Liu Xiaoli(Shaanxi Engineering Laboratory for Transmissions and Controls,Northwestern Polytechnical University,Xi´an 710072,China;College of Mechanical Engineering,Xi´an Aeronautical Institute,Xi´an 710077,China;Xi´an Children´s Hospital,Xi´an 710003,China)
出处
《机械传动》
北大核心
2022年第9期152-158,共7页
Journal of Mechanical Transmission
基金
中央高校基础研究基金(31020190503004)
高等学校学科创新引智计划(B13044)
西安市儿童医院院级项目(2020D06)。
关键词
下肢关节
姿态方程
仿真测试
实验测试
Lower limb joints
Attitude equation
Simulation test
Experimental test
作者简介
周欣(1989-),男,陕西宝鸡人,博士研究生,讲师,主要从事机械设计与康复机器人研究。
