基于斜床减重式下肢康复训练的人体关节受力分析

基于斜床减重式下肢康复训练，对人体下肢屈伸运动过程的关节进行运动与受力分析，将人体简化为7刚体模型，采用Lagrange方法进行动力学建模与分析，并在Matlab中对数学模型仿真，获得人体在斜床不同倾角下训练时关节所受力矩。关节力矩随着斜床倾角的增大而增大；随着人体大、小腿之间夹角的减小而增大。在ADAMS中根据人体参数建立几何模型进行仿真分析，计算两种模型结果间的相关系数，结果显示两种方法获得的关节力矩组间相关系数接近于1，验证了Lagrange方法建立的数学模型的合理性。本研究结果对制定个性化下肢康复训练方案提供良好的参考依据，并对下肢训练康复器械的开发具有指导意义。

Analysis of human joint force during lower limb rehabilitation training based on bed partial weight support

During the lower limb rehabilitation training based on bed partial weight support, the movement and force of the joints of the lower limb in the process of flexion and extension were analyzed. Here, the body is simplified into a 7 rigid body model, and we apply Lagrange method for dynamic modeling and analyzing. The mathematical model is simulated in Matlab to obtain the joint torque when the bed has different inclinations. The joint torque increases with the larger inclination of the bed, and increases with the smaller angle between the thigh and the lower leg. In ADAMS, the geometric model is established according to the human body parameters. The correlation coefficients between the two models are calculated, and the results show that the correlation coefficient between the two methods is close to 1, which verifies the rationality of the mathematical model established by Lagrange method. The research provides a good reference for the development of personalized lower limb rehabilitation training program, and some guidance for the development of lower limb training and rehabilitation equipment.