首页|下肢外骨骼运动康复机器人的动力学分析与仿真

下肢外骨骼运动康复机器人的动力学分析与仿真

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通过对正常人体的步态数据进行分析,提出一种下肢外骨骼机器人的鲁棒自适应PD控制策略,首先运用NOKOV三维红外捕捉系统收集正常人体步态信息,然后运用拉格朗日法分别建立单脚支撑和双脚支撑动力学模型,再根据构建的模型选取适应的控制器,最后通过MATLAB仿真验证设计的控制方式的稳定性与数据的正确性.设计的机器人髋关节和膝关节都能快速跟随到期望角度,同时通过相似函数验证机器人的运动轨迹与人体运动轨迹高度相似,表明机器人具有良好舒适性,也验证数据正确性.说明提出的控制方法是有效的,可为后续驱动源的选择等提供参考,有助于受伤运动员进行康复运动.
Dynamic Analysis and Simulation of the Rehabilitation Robot For Lower Limb Exoskeleton Movement
A robust adaptive PD control strategy for a lower limb exoskeleton robot is proposed by analyzing gait data of a normal human body.Firstly,the NOKOV three-dimensional infrared capture system is used to collect gait information of the normal human body.Then,the Lagrange method is used to establish dynamic models for single foot support and double foot support,and an adaptive controller is selected based on the constructed model,Finally,the stability of the designed control method and the correctness of the data were verified through MATLAB simulation.The designed robot's hip and knee joints can quickly follow the de-sired angle,and the similarity function verifies that the robot's motion trajectory is highly similar to the hu-man motion trajectory,indicating that the robot has good comfort and verifying the correctness of the data.So it can be demonstrated that the proposed control method is effective and can provide reference for the se-lection of subsequent driving sources,which will help injured athletes to perform rehabilitation exercises.

lower limb exoskeleton rehabilitation robotdynamic analysisLagrange equationdynamics sim-ulationrehabilitation

王长剑、赵一平

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淮北理工学院 体育教学部,安徽 淮北 235000

淮北师范大学 体育学院,安徽 淮北 235000

下肢外骨骼康复机器人 动力学分析 拉格朗日方程 动力学仿真 运动康复

安徽省高等学校自然科学研究重点项目

KJ2020A1202

2024

淮北师范大学学报(自然科学版)
淮北师范大学

淮北师范大学学报(自然科学版)

影响因子:0.222
ISSN:2095-0691
年,卷(期):2024.45(2)
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