基于牛顿欧拉动力学方程的人体下肢动力学分析.docxVIP

基于牛顿-欧拉动力学方程的人体下肢 动力学分析 梁国星 梁宇航 李志利 任启超杜康 太原理工大学精密加工山西省重点实验室中国航天 员科研训练中心航天医学基础与应用国家重点实验 室 摘要： 目的建立人体下肢动力学方程，求解不同步态下关节部位的运动学参数与动力 学参数。方法 应用牛顿-欧拉动力学方程建立人体下肢两杆动力学方程。根据实 验者的人体参数计算得出方程中的人体大、小腿的长度、质量、质心位置以及转 动惯量，通过Vicon三维运动采集设备，对人体下肢不同速度步态下的运动学 参数进行釆集，得岀了各种步态下髓、膝关节的关节角度随时间变化曲线图。将 角度数据、足底压力数据及下肢模型所需参数带入方程中，通过Mallab软件进 行编程计算。将计算结果与ADAMS人体步态仿真结果进行力矩峰值的比较，验证 了所建立方程的正确性。结果求解计算出了不同步态下競、膝关节的力矩。结 论通过建立动力学方程求解关节力矩，实现了关节下肢力矩在不同步态下的精 确求解，为外骨骼的关节力矩设定提供了依据。 关键词： 牛顿-欧拉动力学;两杆动力学方程;Mat lab计算;下肢力矩; 作者简介：梁宇航526355367@qq. com 作者简介：梁国星，男，副教授，博士，研究方向为机械制造及其自动化。 E-mail:1iangguoxing@tyut. edu. cn 收稿日期：2017-08-18 基金：中国航天医学工程预先研究课题(2013SY54B0502, FTKY201508) Dynamics Analysis for Human Lower Limb Based on Newton-Euler Equation Liang Guoxing Liang Yuhang Li Zh订i Ren Qichao Du Kang Shanxi Key Laboratory of Precision Machining, Taiyuan University of Technology; Abstract： Objectivc The human lower limb dynamics equations were cstablishcd to solve the dynamics and kinemics parameters at the joint in different gaits. Methods Based on the Newton-Euler dynamics mechanism, the dynamics equations for the lower limb were modeled to calculate the joint torque. According to the body parameters, the thigh length, the shank length and t heir mass and the con ter of the mass were obtain cd. The Vicon 3 D equipme nt was applied to acquire the movement parameters in different gaits. The revolution curves of the hip-joint angle, the knee-joint angle were descripted in the paper. To run the established equations with the mined data in the trails, the values of torque in each joint were calculated by Matlab software. By comparing the joint peak torque betwecn the dynamics calculation and the ADAMS simulation, the correctness of the equation was verified. ResuIts The torque evolutions of the hip and knee joint in two different gaits were disclosed. Conclusion Through the calculation of human lower limb dynamics equations, the joint torques at differ ent modes were solved precisely, which may provide a reference for d