偏瘫患者辅助下肢外骨骼设计与仿真分析

摘要

To reduce the quality of the hemiplegia rehabilitation exoskeleton robot,a kind of auxiliary lower limb exoskeleton robot was designed.It utilizes a cable driven knee joint,which has the advantages of simple structure and light quality characteristics.Also use Adams to establish the dynamic model of the exoskeleton joint,rope module established soft cable driven model,by Ariel biological motion analysis software,hip,knee and ankle joint motion data acquisition and simulation analysis is carried out by using spline function.Through the simulation analysis soft cable driven in the step motion process in different spring pretightening force and spring stiffness on transmission characteristics and driving torque and provide the basis for further research and design of lower extremity exoskeleton.%针对偏瘫患者外骨骼康复机器人降低外骨骼质量的要求,设计了一种辅助下肢外骨骼机器人,采用柔索驱动的膝关节,具有结构简单,质量轻的特点;同时利用ADAMS建立了外骨骼关节柔索驱动的动力学模型,绳索模块建立了柔索驱动模型,通过Ariel生物运动分析软件,采集髋、膝、踝关节运动数据,运用Spline函数进行了仿真分析;经过仿真分析柔索驱动在上台阶运动过程中的不同拉簧预紧力和拉簧刚度下传动特性和驱动力矩,为进一步研究设计下肢外骨骼提供依据.