被动式踝关节助力外骨骼机构设计与仿真OA
Design and Simulation of Passive Ankle Assisted Exoskeleton Mechanism
研究了一种基于离合器和弹簧组成的踝关节助力外骨骼,该外骨骼为被动式设计,通过离合器在行走不同阶段的开合,串联弹簧实现能量的存储与释放,进而实现行走行走助力并减少代谢消耗的目的.首先,基于三维建模软件SolidWorks进行踝关节助力外骨骼结构设计;其次,基于Adams虚拟样机仿真,研究机构的合理性,并基于OpenSim进行人体穿戴踝关节外骨骼后的代谢能量变化研究;最后,进行行走实验,结果证明实验者穿戴踝关节助力外骨骼行走时,下肢肌肉的肌电信号减小,踝关节有较好的助力行走效果.
An ankle-assisted exoskeleton based on the clutch and spring is studied.The exoskeleton is passively designed to store and release energy through the opening and closing of the clutch at different stages of walking in series with the spring,thus realizing the purpose of walking assistance and reducing metabolic consumption.Firstly,the structural design of the ankle-assisted exoskeleton was based on the 3D modeling software SolidWorks.Secondly,the rationality of the mechanism was studied based on the Adam virtual prototype simulation,and the metabolic energy changes of the human body after wearing the ankle-assisted exoskeleton via OpenSim were studied.The experimental results proved that the electromyographic signal of the lower limb muscles decreased when the experimenter wore the ankle-assisted exoskeleton and the ankle joint had a better walking effect.
仇志宇;朱松青;韩亚丽;金壮壮
南京工程学院机械工程学院,南京 211167南京工程学院机械工程学院,南京 211167南京工程学院机械工程学院,南京 211167南京工程学院机械工程学院,南京 211167
信息技术与安全科学
踝关节被动式外骨骼助力行走OpenSim仿真
ankle jointpassive exoskeletonassisted walkingopenSim simulation
《机械科学与技术》 2026 (1)
57-65,9
国家自然科学基金青年基金项目(51205182)与江苏省研究生科研与实践创新计划(SJCX23-1161)
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