下肢外骨骼助力性能评价方法研究
Research on Load-carrying Augmentation Performance Evaluation Method of Lower Extremity Exoskeleton

为定量研究下肢外骨骼的助力性能，提出了助力性能量化指标矩差和ΔT与矩差功率比μ，矩差和ΔT定义为人体穿戴外骨骼前后下肢髋、膝、踝三关节力矩差值之和，矩差功率比μ定义为ΔT与外骨骼消耗的总功率p之比。建立了下肢外骨骼的动力学模型，结合人体步态运动数据获得了在常见步态下总功率p的变化情况。利用动力学分析软件ADAMS建立了人体简化仿真模型和人机穿戴仿真模型，分析了ΔT的变化规律，结合p和ΔT得到μ的变化规律，结果显示，在行走站立阶段，ΔT均保持较大数值，表明穿戴外骨骼之后，在站立阶段人体下肢三关节力矩大幅减小，外骨骼辅助作用明显；矩差功率比μ均在摆动阶段取得最大值，表明在摆动阶段外骨骼单位功耗对人体辅助贡献大，功耗利用率高。
To quantitatively research load-carrying augmentation performance of lower extremity exoskeleton (LEE), the quantization index, ΔT and μ is put forward. ΔT is defined as sum of difference of three joints torque of the hip, knee and ankle of human before and after wearing LEE. μ is defined as the ratio of ΔT to total power consumption of LEE, p. The kinetic model is established. Based on human gait data, the change of p in a gait cycle is obtained under common gait. Using dynamic analysis software ADAMS, Human simplified simulation model and human-machine integration simulation model are established, and the change of ΔT and μ is analyzed. The result showes that ΔT keep high values in the stance phase, It is concluded that three lower limbs joint torque is greatly reduced at this stage after wearing LEE. μ gets the maximum value in the swing phase, shows that LEE unit power make a greater contribution to human, and the energy utilization rate is high at at this stage