Zhang Yonghong, Wang Erliang, Wang Miao, Liu Sizhe, Ge Wenjie
School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China.
Biomimetics (Basel). 2021 May 7;6(2):28. doi: 10.3390/biomimetics6020028.
Whether the lower limb prosthesis can better meet the needs of amputees, the biomimetic performance of the knee joint is particularly important. In this paper, Nokov(metric) optical 3D motion capture system was used to collect motion data of normal human lower limbs, and the motion instantaneous center of multi-gait knee joint was obtained. Taking the error of knee joint motion instantaneous center line as the objective function, a set of six-bar mechanism prosthetic knee joint was designed based on a genetic algorithm. The experimental results show that the movement trajectory of the instantaneous center of the knee joint is basically similar to that of the human knee joint, so it can help amputees complete a variety of gaits and has good biomimetic performance. Gait acquisition technology can provide important data for prosthetic designers and it will be widely used in prosthetic design and other fields.
下肢假肢能否更好地满足截肢者的需求，膝关节的仿生性能尤为重要。本文利用Nokov（度量）光学三维运动捕捉系统采集正常人体下肢的运动数据，得到多步态膝关节的运动瞬时中心。以膝关节运动瞬时中心线的误差为目标函数，基于遗传算法设计了一套六杆机构假肢膝关节。实验结果表明，膝关节瞬时中心的运动轨迹与人体膝关节基本相似，能够帮助截肢者完成多种步态，具有良好的仿生性能。步态采集技术可为假肢设计者提供重要数据，将在假肢设计等领域得到广泛应用。
