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浙江大学学报(工学版)
浙江大学学报(工学版)  2021, Vol. 55 Issue (2): 213-221    DOI: 10.3785/j.issn.1008-973X.2021.02.001
机械工程     
柔性膝关节保护外骨骼及其行走助力方法设计
杨灿军1,2(),彭桢哲2,徐铃辉2,杨巍1,2,*()
1. 浙江大学宁波研究院，浙江 宁波 315100
2. 浙江大学 机械工程学院，浙江 杭州 310058
Design of flexible knee-joint protection exoskeleton and walking assistance method
Can-jun YANG1,2(),Zhen-zhe PENG2,Ling-hui XU2,Wei YANG1,2,*()
1. Ningbo Research Institute, Zhejiang University, Ningbo 315100, China
2. College of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
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摘要：

设计柔性可穿戴式膝关节保护外骨骼，用于实现人体运动过程中膝关节负载减重及行走助力功能. 根据人体生物力学特点，使用固体各向同性材料惩罚（SIMP）模型与有限元分析设计柔性外骨骼膝关节，该柔性关节在行走运动支撑期具有刚性，能够减轻膝关节体重负载，在摆动期柔性较强，能适应人体生理关节运动特性，不对膝关节造成额外载荷. 在柔性可穿戴式膝关节外骨骼结构的基础上，配套设计行走助力模块，研究相应的助力控制方法可以实现步行助力. 性能测试实验表明，单侧膝关节保护外骨骼最大能减轻110 N的膝关节负载，外骨骼结构自身质量为639 g，减重比大；带行走助力模块的外骨骼系统质量为4.8 kg，能实现步行运动的助力功能.
关键词： 柔性外骨骼;  穿戴式外骨骼;  膝关节保护;  减重支撑;  行走助力    
Abstract:

A wearable flexible knee-joint protection exoskeleton was designed, which is used for knee-joint load reduction and force assistance during body motion. The flexible knee joint was designed using solid isotropic material with penalization (SIMP) model and finite element analysis based on biomechanics features of lower limbs. The exoskeleton joint is rigid during stance period to help reduce the body weight load on the knee joint, and it shows flexibility during swing period to adapt to physiological joint kinematic characteristics of body. Therefore no extra force is loaded on the body joint. The walking assistance module was designed and added on the basis of this wearable flexible knee-joint exoskeleton mechanism. The corresponding assisting force control method was researched to realize walking assistance. The performance tests show that the knee joint protection exoskeleton can reduce the knee joint load up to 110 N. The weight of the wearable exoskeleton is 639 g, therefore the weight loss ratio is significant. The exoskeleton system with walking assistance module weights 4.8 kg. The walking test proves that the system has the ability to assist walking.
Key words: flexible exoskeleton    wearable exoskeleton    knee-joint protection    weight reduction and support    walking assistance
收稿日期: 2020-10-11 出版日期: 2021-03-09
CLC:  TP 242.6  
基金资助: 国家自然科学基金资助项目(51805469)；浙江省食品药品监管系统科技计划资助项目(2020016)
通讯作者: 杨巍     E-mail: ycj@zju.edu.cn;zjuaway@163.com
作者简介: 杨灿军(1969—)，男，教授，博士，从事人机智能系统研究. orcid.org/0000-0002-3712-0538. E-mail： ycj@zju.edu.cn
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杨灿军
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引用本文:

杨灿军,彭桢哲,徐铃辉,杨巍. 柔性膝关节保护外骨骼及其行走助力方法设计[J]. 浙江大学学报(工学版), 2021, 55(2): 213-221.

Can-jun YANG,Zhen-zhe PENG,Ling-hui XU,Wei YANG. Design of flexible knee-joint protection exoskeleton and walking assistance method. Journal of ZheJiang University (Engineering Science), 2021, 55(2): 213-221.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.02.001    或    http://www.zjujournals.com/eng/CN/Y2021/V55/I2/213

图 1  人体运动面与下肢自由度分布[13]
关节运动 步行运动范围[14] 运动极限[15]
髋关节旋内/旋外 1.6°/13.2° 50°/40°
髋关节屈/伸 32.2°/22.5° 120°/30°
髋关节外展/内收 7.9°/6.4° 20°/45°
膝关节屈/伸 73.5°/0° 150°/0°
踝关节背屈/趾屈 14.1°/20.6° 20°/40°
踝关节内/外翻 16.5°/25.7° 20°/35°
表 1  下肢各关节的运动范围
大腿长/mm 大腿围/mm 小腿围/mm 体重/kg
$ {452}_{+30}^{-29} $ $ {408}_{+51}^{-44} $ $ {353}_{+49}^{-49} $ $ 56 $
表 2  人体物理参数
图 2  柔性关节广义材料密度云图[13]
图 3  柔性外骨骼关节设计图
图 4  SIMP法的设计与验证
图 5  优化后的应力与形变云图
图 6  可穿戴式外骨骼结构设计
图 7  髋关节助力机构设计
图 8  髋关节与膝关节助力的绳端位移曲线与关节角度
图 9  外骨骼整机系统穿戴效果图
图 10  应力等效试样及测试数据
图 11  穿戴外骨骼膝关节保护结构进行试验
图 12  膝关节转角与外骨骼关节应变关系
序号 测试条件 ε1 /10?6 P /N
1 腿环接触涤纶衣物 1066 52.72
2 黏接硬橡胶接触衣物，松束缚 1150 56.87
3 黏接硬橡胶，中等束缚 1445 71.46
4 黏接硬橡胶，紧束缚 2083 103.00
表 3  不同条件下柔性关节上载荷
图 13  加入单侧负载前后输出电流和绳端位移的变化
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