Structure Design of Hip Joint Parallel Rehabilitation Exoskeleton / 中国医疗器械杂志

At present, most of the research on hip exoskeleton robots adopts the method of decoupling analysis of hip joint motion, decoupling the ball pair motion of hip joint into rotational motion on sagittal plane, coronal plane and cross section, and designing it into series mechanism. Aiming at the problems of error accumulation and man-machine coupling in series mechanism, a parallel hip rehabilitation exoskeleton structure is proposed based on the bionic analysis of human hip joint. The structure model is established and the kinematics analysis is carried out. Through the OpenSim software, the curve of hip flexion and extension, adduction and abduction angle in a gait cycle is obtained. The inverse solution of the structure is obtained by the D-H coordinate system method. The gait data points are selected and compared with the inverse solution obtained by ADAMS software simulation. The results show that the inverse solution expression is correct. The parallel hip exoskeleton structure can meet the requirements of the rotation angle of the hip joint of the human body, and can basically achieve the movement of the hip joint, which is helpful to improve the human-computer interaction performance of the exoskeleton.

Summary of software OpenSim with focus on its human motion modeling theory and application field / 医用生物力学

The current experimental methods, such as the motion capture system, high-speed video, plane photography and surface EMG, cannot show the details of the muscle strength, or explain the nerve-muscle coordination mechanism during human motion. Thus, computer modeling and simulation are developed and become a new method for researchers in China to study human motion, and the software LifeMOD, AnyBody, ANSYS are mainly used even if these softwares have some limitations such as less precise muscle control and relatively higher prices. Developed by Stanford University, OpenSim is an open-source platform for muscle model development, simulation and analysis of neuromuscular system based on C++ and Java. In this paper, on the basis of computer modeling and mathematics theoretical derivation, the OpenSim modeling theory and simulation steps were introduced in detail to provide some theoretical references for researches on sport biomechanics. The future research directions by using OpenSim modeling simulation to study neuromuscular mechanism of the hemiplegic gait and Parkinson gait, and to improve and perfect the rehabilitation ways of the abnormal gait were also discussed.