北京大学学报自然科学版 ›› 2024, Vol. 60 ›› Issue (3): 422-430.DOI: 10.13209/j.0479-8023.2024.032

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人体穿戴髋关节助力外骨骼的行走运动学分析

刘玉1, 黄岩1,2,3,†, 周志浩4   

  1. 1. 北京理工大学机电学院, 北京 100081 2. 北京理工大学智能机器人与系统高精尖创新中心, 北京 100081 3. 仿生机器人与系统教育部重点实验室, 北京 100081 4. 北京大学人工智能研究院, 北京100871
  • 收稿日期:2023-05-25 修回日期:2023-09-22 出版日期:2024-05-20 发布日期:2024-05-20
  • 通讯作者: 黄岩, E-mail: yanhuang(at)bit.edu.cn
  • 基金资助:
    国家自然科学基金(62073038)和北京理工大学高层次人才研究基金资助

Kinematics Analysis of Human Body Wearing a Hip-Joint-Assisted Exoskeleton

LIU Yu1, HUANG Yan1,2,3,†, ZHOU Zhihao4   

  1. 1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081 2. Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing 100081 3. Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 4. Institute for Artificial Intelligence, Peking University, Beijing 100871
  • Received:2023-05-25 Revised:2023-09-22 Online:2024-05-20 Published:2024-05-20
  • Contact: HUANG Yan, E-mail: yanhuang(at)bit.edu.cn

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摘要：

针对现有下肢助力外骨骼研究中缺少对关节层面的运动学分析以及缺少对髋关节外骨骼助力机制的研究这一现状, 对一款髋关节助力外骨骼在多种助力模式下的运动进行采集和分析, 得到被试在不穿戴外骨骼、外骨骼零助力、外骨骼低助力、外骨骼中助力、外骨骼高助力和外骨骼阻力共6种模式下的运动数据, 并通过逆运动学计算和数据分析, 得到关节角度曲线和步态特征。实验结果在关节层面明确了髋关节外骨骼的助力机制, 可为助力外骨骼的设计和运动控制提供参考。

关键词: 下肢助力外骨骼, 运动学分析, 人体行走运动, 步态特征

Abstract:

Faced with the problem that existing studies on lower-limb powered exoskeleton lack joint-level kinematics analysis and assistance principle of hip exoskeleton, motion of human body wearing a hip assisted exoskeleton with multiple assist modes was recorded and analyzed. Motion data of human walking without exoskeleton, with transparent, low assistance mode, middle assistance mode, high assistance mode and resistance mode were obtained. Based on inverse kinematics and data processing, joint angles and gait characteristics were obtain. These results are helpful in clarifying the assistance principle of the hip exoskeleton, and may benefit design and motion control of assisted exoskeletons.

Key words: lower-limb assisted exoskeleton, kinematics analysis, human walking, gait characteristics

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