XU Jidong,JIN Shanhai.Design and analysis of a soft wearable walking assistance robot for ankle and hip joint[J].Journal of Yanbian University,2022,(01):90-94.
一种辅助踝髋关节的柔性可穿戴步行辅助机器人的设计与分析
- Title:
- Design and analysis of a soft wearable walking assistance robot for ankle and hip joint
- 文章编号:
- 1004-4353(2022)01-0090-05
- 分类号:
- TP242
- 文献标志码:
- A
- 摘要:
- 针对传统的外骨骼机器人存在的柔顺性差、穿戴舒适性差等问题,设计了一种可以为踝髋关节提供辅助的可穿戴机器人.该机器人由踝关节驱动系统、髋关节驱动系统、传递系统和绑带系统组成.通过对踝髋关节的受力分析表明,在穿戴者步态周期的0%～60%范围内该机器人可以为踝关节和髋关节提供约200 N和222 N的峰值力,进而可以为穿戴者的脚踝弯曲和髋关节伸展提供帮助.该研究成果可为外骨骼步行辅助机器人的设计提供理论依据.
- Abstract:
- Aiming at the problems of poor flexibility and wearing comfort of traditional exoskeleton robots, a wearable robot that can provide assistance to the ankle and hip joints is designed.The robot consists of an ankle joint drive system, a hip joint drive system, a transmission system and a strap system.The analysis of the force on the ankle and hip joints shows that the robot can provide the ankle and hip joints with peak forces of up to 200 N and 222 N during the first 60% of the wearer's gait cycle, thereby providing the wearer's ankle flexion and hip extension provide help.The research results can provide a theoretical basis for the design of exoskeleton walking assistance robots.
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备注/Memo
收稿日期: 2021-08-07
基金项目: 吉林省发改委产业技术研究与开发专项(2019C048-2)
第一作者: 徐继东(1997—),男,硕士研究生,研究方向为外骨骼机器人.
通信作者: 金山海(1982—),男,博士,副教授,研究方向为外骨骼机器人、滑模控制.