七自由度虚拟外骨骼运动仿真研究

研究人体运动的真实关节状态,针对地面反作用力对外骨骼系统的影响,单纯数学模型不准确。为解决上述问题,提出了根据机械模块(SimMechanics)的建模方法。利用D-H(Denavit Hartenberg model)运动模型建立外骨骼的机械连杆模型,并作为虚拟建模的对象。引入速度阈值,解决地面反作用力的不连续问题,采用PD控制方法进行控制。利用SimMe-chanics中的驱动器模块、传感器模块、关节模块建立完整虚拟外骨骼机械仿真模型进行仿真。仿真结果显示虚拟外骨骼的关节运动状态能够有效的跟踪上期望值,证明方法能够真实体现人体的运动形态动特性。

Motion Simulation of Seven DOF Virtual Exoskeleton

Research the influence of ground reaction force on the exoskeleton and the inaccurate problem brought by the pure mathematical model.The method of virtual model simulation based on the SimMechanics was proposed.As exoskeleton system is a complex system of multi-link,the mechanical model of exoskeleton was built with the Denavit Hartenberg model and as a virtual model of objects.Velocity threshold was introduced for getting continuous ground reaction force,and the PD controller was used.The complete virtual link model was built using the driving module,sensor module and joint module of SimMechanics.Simulation results show that the joint state of the virtual exoskeleton can effectively track the expectations,and indicate that this method can exactly imitate the characters of human motion.