外骨骼ZMP行走平衡控制仿真

Wei Yang, Can-jun Yang, Yan-hu Chen, Linghui Xu
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引用次数: 8

摘要

提出了基于零力矩点的下肢康复外骨骼行走平衡估计方法。为了获取外骨骼行走ZMP,利用MatLab SimMechanics对外骨骼三维模型进行仿真。外骨骼支撑腿髋关节外展关节驱动遵循人体正常行走的髋关节外展轨迹。由于髋关节外展关节的存在,外骨骼ZMP大部分与足底区域重叠良好。在没有髋关节外展的情况下,这种常见设计的外骨骼ZMP与鞋底区域脱节。同时,应用各种髋关节外展轨迹对外骨骼ZMP进行了修正,结果证明,仅支持腿部髋关节的外骨骼驱动遵循人类正常行走的髋关节外展轨迹是帮助平衡行走的最合适方式。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Simulation of exoskeleton ZMP during walking for balance control
This paper presents Zero Moment Point (ZMP) based lower limb rehabilitation exoskeleton walking balance estimation. To acquire exoskeleton walking ZMP, simulation of exoskeleton 3D model was conducted by means of MatLab SimMechanics. Exoskeleton support leg hip abduction joint was driven to follow human normal walking hip abduction trajectory. Thanks to the hip abduction joint, most part of the exoskeleton ZMP overlapped with the sole area well. While without hip joint abduction, the exoskeleton ZMP of this common design disjoint from the sole area. Meanwhile, all kinds of hip abduction trajectories were applied to modify exoskeleton ZMP and the results proved that exoskeleton with only support leg hip joint driven to follow human normal walking hip abduction trajectory is the most suitable way to help balance walking.
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