机械动力学:2017,Vol:36,Issue(9):1327-1332
引用本文:
管小荣, 吴夷杉, 王亚平, 李仲, 徐诚. 下肢外骨骼人机耦合粗糙度的评价方法[J]. 机械科学与技术
Guan Xiaorong, Wu Yishan, Wang Yaping, Li Zhong, Xu Cheng. A Method for Evaluating Man's Lower Extremity Exoskeleton Coupling Surface Roughness[J]. Journal Of Remote Sensing

下肢外骨骼人机耦合粗糙度的评价方法
管小荣, 吴夷杉, 王亚平, 李仲, 徐诚
南京理工大学机械工程学院, 南京 210094
摘要:
为了更好的评价外骨骼的人机工效,在现有外骨骼样机的基础上,提出一种基于三维运动捕捉系统的下肢外骨骼人机耦合粗糙度的评价方法。该方法利用运动捕捉系统获得穿戴者髋关节和膝关节的轨迹变化,建立下肢外骨骼人机耦合粗糙度的模型,从而在一定程度上定量地表现外骨骼的人机工效。同时通过引入高斯滤波,实现对模型中线的获取,提高了模型的正确性。实验结果证明,该方法可以获取穿戴者与下肢外骨骼在3种步态时的不匹配度,可以作为外骨骼综合评价的参考。
关键词:    下肢外骨骼    轨迹    评价方法    表面粗糙度    带通滤波   
A Method for Evaluating Man's Lower Extremity Exoskeleton Coupling Surface Roughness
Guan Xiaorong, Wu Yishan, Wang Yaping, Li Zhong, Xu Cheng
School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
Abstract:
To better evaluate the ergonomics of an exoskeleton, this paper proposes a method for evaluating man's lower extremity exoskeleton coupling roughness based on a three-dimensional motion capture system. This method derives a wearer's hip and knee trajectory changes from the motion capture system to establish the man's lower extremity exoskeleton coupling surface roughness model which can perform the ergonomics of the exoskeleton quantitatively to some extent. By introducing the Gaussian bandpass filters, the method can obtain the center line, enhancing the accuracy of the model. The experimental results prove that the method can obtain the mismatch between the wearer and his lower extremity exoskeleton on three kinds of gaits and be used as a reference for the comprehensive evaluation of exoskeleton.
Key words:    lower extremity exoskeleton    trajectories    evaluation method    surface roughness    bandpass filter   
收稿日期: 2016-05-11     修回日期:
DOI: 10.13433/j.cnki.1003-8728.2017.0903
通讯作者:     Email:
作者简介: 管小荣(1979-),副研究员,博士,研究方向为穿戴式智能装备,18652096966@163.com
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