刘友福 卢军

摘  要： 现有的刚性外骨骼存在关节中心与人体下肢的生物关节中心较难对齐、限制人体运动的自由度和影响穿着舒适度等问题。针对上述问题，设计了一种由电机驱动的助力髋关节屈曲和伸展的柔性外骨骼机器人。基于该柔性外骨骼，利用三维动作捕捉系统和测力平台采集受试者在行走过程中的运动学和地面反作用力数据，运用生物力学分析软件Opensim建立人体-外骨骼模型;利用Opensim分别模拟计算出在行走时助力和不助力两种情况下驱动髋关节的主要肌肉的代谢值。模拟仿真结果表明：和不助力的情况相比，在行走过程中对髋关节助力会减小驱动髋关节运动的主要肌肉的代谢值，减小穿戴者肌肉的负担;在行走过程中减小穿戴者的能量消耗。

关键词： 柔性外骨骼机器人; 髋关节助力; Opensim; 仿真; 肌肉代谢

中图分类号：TP242.6          文献标识码：A     文章编号：1006-8228（2021）01-01-05

Simulation of soft exosuit using Opensim

Liu Youfu1，2， Lu Jun1

（1. College of Mechanical & Electrical Engineering， Shaanxi University of Science and Technology， Xi'an， Shaanxi 10708， China;

2. Shenzhen Institutes of Advanced Technology， Chinese Academy of Science）

Abstract： The existing rigid exoskeleton has some problems， such as the joint center is difficult to align with the biological joint center of human lower limbs， limiting the freedom of human movement and affecting the wearing comfort. A motor-driven soft exosuit assisting hip flexion and extension was designed to solve the problems above. The three-dimensional motion capture system and force measurement platform were utilized to collect the subjects' kinematics and ground reaction force data during walking. A human body-soft exosuit model was built by using Opensim. Opensim was used to calculate the metabolism of the main muscles of the hip joint during walking. The simulation results show that， compared with the situation without assistance， the hip flexion and extension with assistance reduced the metabolic value of the main muscles that drive the hip joint movement and reduced the wearer's muscles burden and energy consumption.

Key words： soft exosuit; hip assistance; Opensim; simulation; muscles metabolism

0 引言

外骨骼机器人是一种新型仿生设计的可穿戴设备。外骨骼机器人起源于上个世纪60年代，在过去的几十年里，下肢可穿戴外骨骼机器人技术取得了重大发展，广泛应用于医疗康复领域，旨在帮助截瘫、中风患者进行活动能力恢复和步态纠正等[1-2];并且在军队、工业生产等领域具有潜在的应用价值[3-4]。但是，上述外骨骼机器人大多采用刚性结构，由于刚性外骨骼关节中心与人体下肢的生物关节中心较难对齐[5-6];且刚性结构限制了人体运动的自由度并影响穿戴舒度[7-8]。为了……