变刚度储能助力髋外骨骼设计及助力效果仿真

doi:10.16182/j.issn1004731x.joss.20-0994

摘要/Abstract

摘要：

被动储能助力外骨骼充分利用人体自身能量，减少人行走时的能耗。针对目前被动储能助力外骨骼多采用定刚度关节，在分析人行走过程中关节能量流动特性及刚度变化特点的基础上，设计了一种被动变刚度储能助力髋关节外骨骼，建立了人–外骨骼耦合模型，仿真得到人体在平地上步行功耗最小的最优刚度，以及在变刚度条件下人体总功耗、大腿主要肌肉肌力变化。研究结果表明：外骨骼的不同刚度会影响穿戴者行走过程中的能耗，在下肢屈曲和伸展过程中分别采用最优刚度，可进一步减少人体能耗。该结果对被动外骨骼设计中的刚度需求具有重要参考意义。

关键词: 助力外骨骼, 变刚度, 髋关节, 仿真, 代谢

Abstract:

Passive energy storage walking assist exoskeleton makes full use of the human’s own energy, reducing energy consumption when walking. Aiming at the present passive energy storage walking assist exoskeleton adopts fixed stiffness joint, a passive variable stiffness energy storage walking assist hip exoskeleton is designed, on the base of joint energy flow characteristics in the process of people walking and the change of stiffness characteristics. The human-exoskeletons coupling model is established, and the optimal stiffness that minimizes the power consumption of the human body walking on a flat surface, as well as the total metabolism and the main thigh muscle force and power change under the variable stiffness conditions are simulated. The result shows that different stiffnesses of the exoskeleton affect the energy consumption during the wearer's walking, and the simulation with the optimal stiffness during lower limb flexion and extension, respectively, can further reduce the energy consumption. The results are an important reference for the stiffness requirements in passive exoskeleton design.

Key words: assist exoskeleton, variable stiffness, hip joint, simulation, metabolism

中图分类号:

TP391.9

胡冰山, 程科, 陆盛, 喻洪流. 变刚度储能助力髋外骨骼设计及助力效果仿真[J]. 系统仿真学报, 2022, 34(5): 1090-1100.

Bingshan Hu, Ke Cheng, Sheng Lu, Hongliu Yu. Design of Variable Stiffness Energy Storage Walking Assist Hip Exoskeleton and Simulation of Assistance Effect[J]. Journal of System Simulation, 2022, 34(5): 1090-1100.

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体重/kg	定刚度(Nm/rad)	变刚度(Nm/rad)
60	k=171.9时，代谢减少9%	k₁=103.14，k₂=171.9时代谢减少10%
70	k=114.6时，代谢减少8%	k₁=91.68，k₂=137.52时代谢减少9%