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在对人体下肢运动进行运动学和动力学分析的基础上,建立基于人体运动特点的下肢运动仿真系统。在动力学仿真软件ADAMS(Automatic dynamic Analysis of Mechanical System)中建立人体模型,并利用运动学分析得到的各个关节的角度信号和动力学分析得到的各个关节的力矩信号,对不同路况下的人体下肢运动进行仿真实验,以验证模型的准确性。实验显示,每种路况下的行走过程均平稳、正常,表明所建立的虚拟模型能够准确地描述人体下肢的运动过程,可以进行人体下肢运动学、动力学以及控制方法的研究,为主动式假肢和人体下肢康复辅具的研究提供借鉴作用。
Based on the kinematics and dynamics analysis of the lower extremity movement of the human body, a lower extremity movement simulation system based on the characteristics of the human body movement is established. In the dynamic simulation software ADAMS (Automatic Dynamic Analysis of Mechanical System) to build the human body model, and use the kinematics analysis of each joint angle signal and dynamics analysis of each joint torque signal, under different road conditions of human lower extremity Exercise simulation experiments to verify the accuracy of the model. Experiments show that the walking process under each road condition is steady and normal, indicating that the established virtual model can accurately describe the movement process of lower extremities of the human body, and can study the lower limb kinematics, dynamics and control methods of the human body. And human lower limb rehabilitation aids to provide reference.