面向助力机器人设计的人体负重楼梯行走下肢运动研究

中国机械工程 ›› 2013, Vol. 24 ›› Issue (22): 3090-3095.

面向助力机器人设计的人体负重楼梯行走下肢运动研究

韩亚丽1;赵国平2;高海涛1;朱松青1

1.南京工程学院,南京,211167
2.东南大学,南京,211189

出版日期:2013-11-25 发布日期:2013-11-29
基金资助:
国家自然科学基金资助项目(51205182)；江苏省自然科学基金资助项目(BK2012474)；南京工程学院引进人才基金资助项目(YKJ201102)

Motion Study of Lower Limb during Human Stair Climbing for Design of Power-assisted Robot

Han Yali1;Zhao Guoping2;Gao Haitao1;Zhu Songqing1

1.Nanjing Institute Technology,Nanjing,211167
2.Southeast University,Nanjing,211189

Online:2013-11-25 Published:2013-11-29
Supported by:
National Natural Science Foundation of China（No. 51205182）;Jiangsu Provincial Natural Science Foundation of China（No. BK2012474）

摘要/Abstract

摘要：

利用Motion Analysis公司开发的步态分析系统对12名测试对象分别进行不同负重(0kg,10kg,20kg,30kg)的上楼梯行走实验,检测出上楼梯过程中,下肢关键点的三维坐标值及脚底与地面间的反作用力及力矩,通过建立人体下肢动力学模型,获得行走过程中下肢各关节的运动学及动力学行走数据,并分析出随着负重的增加,下肢各关节的运动变化特征。揭示了人体不同负重上楼梯过程中下肢各关节的运动机理,获得的运动学及动力学数据为下肢助力机器人的设计提供了重要的理论依据。

关键词: 楼梯负重行走, 关节运动学, 关节动力学, 助力机器人设计

Abstract:

The coordinates of the marked points of joints and the changes of foot force and torque between the foot and the ground in the stair climbing were obtained with systems of motion image acquisition and force measurement which was developed by Motion Analysis Company. There were twelve healthy college students attending this walking experiments. The testers walked with different loads, such as 0kg, 10kg, 20kg and 30kg. The effects of kinematics and dynamics on the human lower limb in different loads were investigated using the human dynamics model. The main objective of this
research was to study the motion principle of human lower limb joint during stair climbing with different loads. The kinematic and kinetic data can provide an important basis for the mechanism design of lower limb power-assisted robot.

Key words: stair climbing with load;joint , kinematics;joint kinetic;design of power-assisted , robot

中图分类号:

TP24

韩亚丽, 赵国平, 高海涛, 朱松青. 面向助力机器人设计的人体负重楼梯行走下肢运动研究[J]. 中国机械工程, 2013, 24(22): 3090-3095.

Han Yali, Zhao Guoping, Gao Haitao, Zhu Songqing. Motion Study of Lower Limb during Human Stair Climbing for Design of Power-assisted Robot[J]. China Mechanical Engineering, 2013, 24(22): 3090-3095.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.cmemo.org.cn/CN/

https://www.cmemo.org.cn/CN/Y2013/V24/I22/3090

参考文献

[1]Andriaechi T P, Anderson G B, Fermier R W, et al. A Study of Lower-limb Mechanics during Stair Climbing[J]. The Journal of Bone and Joint Surgery, 1980, 62(5): 749-757.
[2]Kowalk D L, Duncan J A, Vaughan C L. Aduction adduction Moments at the Knee during Stair Ascent and Descent[J]. Journal of Biomechanics, 1996, 29(3): 383-388.
[3]Riener R, Rahuffetti M, Frigo C. Stair Ascent and Descent at Different Inclinations[J]. Gait and Posture, 2002, 15(1): 32-44.
[4]Protopapadaki A, Drechsler W l, Cramp M C, et al. Hip, Knee, Ankle Kinematics and Kinetics dur ing Stair Ascent and Descent in Healthy Young Individuals[J]. Clinical Biomechanics, 2007, 22(2): 203-210.
[5]Reid S M, Novak A C, Brouwer B, et al. Relationship Between Stair Ambulation with and without a Handrail and Centre of Pressure Velocities during Stair Ascent and Descent[J]. Gait and Posture, 2011, 34(4): 529-532.
[6]Bergmann G, Graichen F, Rohlmann A. Is Staircase Walking a Risk for the Fixation of Hip Implants[J]. Journal of Biomechanics, 1995, 28(5): 535- 553.
[7]Kowalk D L, DuncanJ A, McCue FC, et al. Anterior Cruciate Ligament Reconstruction and Joint Dynamics during Stair Climbing[J]. Mediceal Science of Sports and Exercise, 1997, 29(11): 1406-1413.
[8]Bolgla L A, Malone T R, Umberger B R, et al. Hip Strength and Hip and Knee Kinematics during Stair Descent in Females with and without Patel lofemoral Pain Syndrome[J]. Journal of Orthopaedic & Sports Physical Therapy, 2008, 38(1): 12-18.
[9]Au S, Berniker M, Herr H. Powered Ankle-foot Prosthesis to Assist Level-,ground and Stair-descent Gaits[J]. Neural Networks, 2008, 21(4): 654-666.
[10]吴剑, 李建设. 人体行走时步态的生物力学研究进展[J]. 中国运动医学杂志, 2002, 21(3): 305-307.
[11]魏高峰, 白雪岭, 张希安, 等. 建立基于广义Hamilton及Lie群理论的人体骨肌系统动力学方程[J]. 医用生物力学, 2009, 24(4): 276-280.
[12]励建安, 孟殿怀. 步态分析的临床应用[J]. 中华物理医学与康复杂志, 2006, 28(7): 500-503.
[13]人体运动的生物力学建模与计算机仿真进展[J]. 医用生物力学, 2011, 26(2): 97-104.
[14]杨建坤, 武明, 季林红, 等. 人体背部负重对坡道行走步态的影响[J]. 清华大学学报：自然科学版, 2005, 45(5): 651-653.
[15]唐刚, 魏高峰, 周海, 等. 测量并分析上楼梯过程中下肢关节角变化[J]. 医用生物力学, 2011, 26(5): 460-464.
[16]刘建华, 丸山仁司, 胜平纯司. 上下台阶方法的生物力学研究[J]. 中国康复理论与实践, 2003, 9(10): 604-605.
[17]张瑞红, 金德闻. 不同路况下正常步态特征研究[J]. 清华大学学报：自然科学版, 2000, 40(8): 77-80.
[18]Han Yali, Wang Xingsong, Fu Chunqian, et al. The Study on Human Walking Gait Analysis System for the Design of Walking Power-assisted Robot[C]//IEEE ICMA 2009. Changchun, 2009 : 3607- 3612.
[19]Vaughan C L, Davis B L, O'Connor J C. Dynamics of Human Gait[M]. 2nd ed. Champaign: Human Kinetics Publishers, 1999.
[20]Han Yali, Wang Xingsong. The Biomechanical Study of Lower Limb during Human Walking[J]. Sci. China Tech. Sci. , 2011, 54(4): 983-991.