老年人外骨骼机器人斜坡行走的运动学分析
陈勇，宋雪萍，李荣华，张连东
（大连交通大学 机械工程学院，辽宁，大连 116028）
摘要：利用Motion Analysis三维动作捕捉分析系统，记录了老年人穿戴外骨骼助行机器人在20°斜坡行走的步态数据，建立了运动学耦合模型，分析了老年人穿戴外骨骼助行机器人斜坡行走的运动特性。研究结果表明，老年人穿戴外骨骼助行机器人上斜坡时，髋关节的运动范围为5.5°～59.5°，膝关节的运动范围为7.2°～68.2°，踝关节的运动范围为10.4°～32.4°，外骨骼助行机器人的踝关节始终处于背屈状态；老年人穿戴外骨骼助行机器人下斜坡时，髋关节的运动范围为10.1°～30.1°，膝关节的运动范围为9.3°～75.3°，踝关节的运动范围为-8.8°～19.8°，外骨骼助行机器人的踝关节处于背屈和跖屈交替变换的状态，为提高老年人与外骨骼助行机器人在斜坡行走的运动性能提供运动学依据。
关键词：外骨骼机器人；老年人；斜坡；运动学分析
中图分类号：TP242 文献标志码：A doi：10.3969/j.issn.1006-0316.2016.01.009
文章编号：1006－0316 (2016) 01－0036－05
Kinematics analysis of the exoskeleton robot and wearer walking on slope
CHEN Yong，SONG Xueping，LI Ronghua，ZHANG Liandong
( School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China )
Abstract：The movement processes of the exoskeleton robot and older people walking on 20° slope were captured by the 3D motion capture and analysis system. A kinematics coupling model was put forward to analyze the kinematics features of the exoskeleton robot and older people walking on 20° slope. During the exoskeleton robot and older people walking up slope, the change of the hip joint was 5.5°~59.5°, the change of the knee joint was 7.2°~68.2° and the change of the ankle joint was 10.4°~32.4°. During the exoskeleton robot and older people walking down slope, the change of the hip joint was 10.1°~30.1°, the change of the knee joint was 9.3°~75.3° and the change of the ankle joint was -8.8°~19.8°. The results would provide kinematics base in developing the exoskeleton robot and older people walking on slope.
Key words：exoskeleton robot；older people；slope；kinematics analysis
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收稿日期：2015－08－25
基金项目：国家自然科学基金项目（51305055）；辽宁省高等学校杰出青年学者计划项目（LJQ2015018）；辽宁省自然科学基金项目（2015020107）
作者简介：陈勇（1979－），男，吉林省吉林市人，博士，副教授，主要研究方向为外骨骼助行机器人。
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