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中文摘要：
针对需要与人体高度偕行的外骨骼,采用基于运动生物力学分析方法,对外骨骼进行运动仿真。对人体运动分析,采用连续体离散化-离散体连续化的思路。连续体离散化利用高速摄像机与光学动作捕捉系统测试人体关节在人体运动时的空间三维坐标。离散体连续化采用最小二乘法对测试数据进行拟合分析得到可以应用于外骨骼人体运动模型。建立外骨骼虚拟样机,将人体运动模型应用于外骨骼虚拟样机中仿真,得到运动时外骨骼各关节处受力曲线,分析关节力矩驱动特性,其中最大受力和力矩都在左膝关节处,分别为450 N和68 N·m,对外骨骼设计制造时材料选择、结构设计有着重要作用。
英文摘要：
For the exoskeleton accompanying highly with body,the movement of the exoskeleton is simulated based on the biomechanics. For the human movement analysis,the method of continuous-discrete and discrete-continuous is adopted. The continuous-discrete is to use high-speed cameras and optical motion capture system to test groups of three-dimensional coordinates of human joint during exercise. The discrete-continuous is to use the method of least squares fitting analysis of test date and get equations of human motion. The virtual prototype of the exoskeleton is established,the equations of motion is applied to the simulation of virtual prototype of exoskeleton and get the force curve of exoskeleton＇ s joints. The analysis of joint torque driver characteristics shows that the biggest force and torque occurs on the exoskeleton＇ s left knee,respectively for 450 N and 68 N · m. The analysis of joint torque driver characteristics plays an important role on the materials selection and structure design of exoskeleton.
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