基于MATLAB的下肢假肢摆动相仿真

摘要

介绍了一种基于MATLAB软件的下肢假肢膝关节摆动相仿真方法.下肢假肢膝关节采用固定式气缸体的四连杆机械机构.详细描述了建立下肢假肢膝关节摆动相运动学、动力学模型的过程.为了验证模型有效性,将人体运动捕捉实验获得的髋关节摆动相运动数据输入模型来预测小腿角度.实验结果表明,该仿真结果与采集到的小腿角度非常接近,为控制算法的设计奠定了基础.%This paper presented a dynamics analysis of an frans-femoral prosthesis of the swing phase in walking cycle.The prosthesis knee joint consists of a four-bar knee mechanism with a fixed cylinder. Particular description of kinetics and kinematics modeling was given. To testify the validity of the model, hip joint kinetics data obtained from amputee motion capture experiment of level walking was used to predict the angle of the shank. The model of the prosthesis knee joint generates behavior which compares well with experimental measurements. The result provide solid base for the control algorithm.