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本文提出了改进UCBL(University of California Berkeley,Biome-chanics Labretory)KD型膝关节机构的方案,并论证了提高动态稳定性的措施,在此基础上提出的主要目标函数是摆动相位所需髋关节力矩值以及站立相位与摆动相位髋关节力矩的差值为最小。从而兼顾了步行中两相位的稳定性。本文有助于在设计阶段正确估价假肢装置的性能。
In this paper, a scheme to improve the KD knee joint mechanism of the UCBL (University of California Berkeley, Biometrics Chanretory) is proposed and the measures to improve the dynamic stability are demonstrated. The main objective function proposed on this basis is the hip joint The torque value and the difference between the standing phase and the wobble hip torque are the minimum. Thus taking into account the stability of the two phases in walking. This article helps to properly evaluate the performance of prosthetic devices during the design phase.