摘要
为分析和研究起立机器人辅助站立过程中人体下肢关节的运动学参数,通过分析人体起立过程,利用拉格朗日方程和汉密尔顿原理,推导人体起立运动学方程并在Matlab/Simulink中建立模拟平台。对起立机器人辅助患者起立时关节角度变化进行模拟与试验研究,模拟和试验结果证明了所建模型可有效预测起立关节角。并对机器人辅助患者完成起立时,患者各关节运动轨迹和运动学参数进行测试,为起立机器人位置控制与患者起立过程力学研究奠定基础。
In order to analyze the kinematic parameters of the lower-limb joints of the human body during the sit-to-stand motion assisted by a standing-up robot, based on the analysis of the sit-to-stand process of the human body, a kinematic equation for the sit-to-stand motion of the human body was derived by use of the Lagrangian equation and Hamilton principle, and a simulation platform was established in Matlab/Simulink. The simulation and experi-ment were carried out for researching the change of the joint angle during the sit-to-stand motion when a standing-up robot assisted a patient with the sit-to-stand motion. The results show that the joint angle may be effectively predic-ted by utilizing the established model. In addition, the motion trajectory and the kinematic parameters of the joints of the patient were tested when a robot assisted the patient with the sit-to-stand motion, so as to lay a basis for the location control on a standing-up robot and the mechanical research on the sit-to-stand process of the patient.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2014年第2期233-237,共5页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(50575053)
中国与斯洛文尼亚政府间科技项目(9-7)
关键词
人体运动学
辅助起立机器人
关节运动
运动学模型
人体起立
Human-body kinematic
assistive standing-up robot
joint motion
kinematic modeling
sit-to-stand mo-tion
