下肢运动信息采集与运动仿真

目的 建立人体下肢3D模型与生物力学模型，进行运动学和动力学分析，搭建下肢控制平台为主动式下肢假肢和人体下肢助行器的控制研究提供理论依据。方法 利用VICON人体三维运动捕捉系统采集平地行走人体下肢髋、膝、踝运动信息。利用Solidworks建立人体下肢3D模型，进行下肢运动学分析。基于Matlab中Simulink的机械仿真模块（SimMechanics）建立人体下肢模型，进行动力学分析，产生运动信号。基于Quanser半实物仿真平台搭建控制模型，接收SimMechanics产生的运动控制信号，实现对双下肢运动平台的控制。结果 利用运动学分析得到各个关节的速度和加速度信号，利用动力学仿真得到各个关节的力矩信号，对建立的人体双下肢模型进行模拟仿真，通过仿真验证了模型的合理性，利用输出的信号对双下肢运动平台进行控制实现了平地行走功能。结论 建立的平台可以进行人体下肢运动学、动力学和控制方法的研究，为主动式假肢和人体下肢助行器的控制提供借鉴作用。

Data acquisition and motion simulation of lower limb

Objective To establish the three-dimensional (3D) and biomechanical model of lower limb for kinematics and dynamics analysis, and construct the control platform of lower limb for providing theoretical basis for the design of active transfemoral prosthesis and lower limb exoskeleton orthosis. Methods Motion information of the hip joint, knee joint and ankle joint was collected by VICON 3D motion capture system. The 3D model of lower limb was designed by Solidworks for kinematics analysis. Based on SimMechanics in Matlab toolbox, the biomechanical model of lower limb was built to analyze dynamics of lower limb. Based on hardware-in-the-loop simulation platform of Quanser, the control model was constructed to receive control signal from SimMechanics and realize the control of lower limb motion platform. Results The velocity, acceleration and moment of force in each joint were obtained through kinematics and dynamics simulation. The established model of lower limb was validated by simulation, and the simulation signal was used to control the lower limbs motion platform to and realize the function of level walking. Conclusions The platform can be used for the research on kinematics, dynamics and control of lower limb, which has paved way for further investigation on the control of active transfemoral prosthesis and lower limb exoskeleton orthosis.