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.

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