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四连杆膝关节假肢的动力学建模与分析

吕阳 方虹斌 徐鉴 马建敏 王启宁 张晓旭

吕阳, 方虹斌, 徐鉴, 马建敏, 王启宁, 张晓旭. 四连杆膝关节假肢的动力学建模与分析[J]. 力学学报, 2020, 52(4): 1157-1173. doi: 10.6052/0459-1879-20-048
引用本文: 吕阳, 方虹斌, 徐鉴, 马建敏, 王启宁, 张晓旭. 四连杆膝关节假肢的动力学建模与分析[J]. 力学学报, 2020, 52(4): 1157-1173. doi: 10.6052/0459-1879-20-048
Lü Yang, Fang Hongbin, Xu Jian, Ma Jianmin, Wang Qining, Zhang Xiaoxu. DYNAMIC MODELING AND ANALYSIS OF THE LOWER LIMB PROSTHESIS WITH FOUR-BAR LINKAGE PROSTHETIC KNEE[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(4): 1157-1173. doi: 10.6052/0459-1879-20-048
Citation: Lü Yang, Fang Hongbin, Xu Jian, Ma Jianmin, Wang Qining, Zhang Xiaoxu. DYNAMIC MODELING AND ANALYSIS OF THE LOWER LIMB PROSTHESIS WITH FOUR-BAR LINKAGE PROSTHETIC KNEE[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(4): 1157-1173. doi: 10.6052/0459-1879-20-048

四连杆膝关节假肢的动力学建模与分析

doi: 10.6052/0459-1879-20-048
基金项目: 1)国家重点研发计划(2018YFB1307305)
详细信息
    通讯作者:

    张晓旭

  • 中图分类号: O322

DYNAMIC MODELING AND ANALYSIS OF THE LOWER LIMB PROSTHESIS WITH FOUR-BAR LINKAGE PROSTHETIC KNEE

  • 摘要: 相比于单轴式膝关节,四连杆膝关节具有更好的仿生特性和运动安全性,因而在下肢假肢研究中得到广泛关注. 本研究以一款四连杆膝关节被动假肢为研究对象,主要关注足-地交互作用力以及膝关节单边接触力等强非线性因素对下肢假肢步态的影响. 为此,采用 Kelvin-Voigt 模型和库伦模型描述足-地接触力和摩擦力,并采用 Kelvin-Voigt 模型描述膝关节单边接触力,从而基于第一类拉格朗日方程建立假肢动力学模型. 本研究以步态实验测得的髋关节运动数据为模型的驱动信号,针对假肢的步态特征进行了数值分析. 计算结果显示,当膝关节液压阻尼器的刚度较小时,强非线性作用力会使假肢产生显著的亚谐波响应,进而导致步态周期失谐. 进一步研究发现,提胯行为能够避免步态周期失谐,这也为残疾人行走时的提胯等代偿行为提供了一种新的力学解释. 为了评价假肢步态与健康人实测步态的一致性,本研究进一步定义了步态相关系数并分析了膝关节液压阻尼器刚度、阻尼参数对相关系数的影响. 结果表明,通过合理的刚度、阻尼参数设计,两者步态的相关系数可达到 0.9 以上,这为四连杆膝关节被动假肢进一步优化提供了理论支撑.

     

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出版历程
  • 收稿日期:  2020-02-15
  • 刊出日期:  2020-08-10

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