膝关节在下肢外骨骼不同驱动形式下的生物力学响应

项目名称： 膝关节在下肢外骨骼不同驱动形式下的生物力学响应

项目编号： No.11272039

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 数理科学和化学

项目作者： 刘文勇

作者单位： 北京航空航天大学

项目金额： 78万元

中文摘要： 下肢外骨骼是一类新型的机器人化的穿戴式助行助力工具，具有广泛的民用和军用前景。但外骨骼的高负重、快速运动和主动驱动的特点，使其对下肢关节尤其是膝关节会造成明显的力学冲击。项目组前期研究已经分析了不同载荷下膝关节的力学响应问题，本项目拟从人机交互作用的角度，采用动态有限元分析方法回答如下科学问题：外骨骼对膝关节施加的不同驱动方式是如何影响膝关节的生物力学响应的？本项目将建立包含人体膝关节和外骨骼的生物力学模型，通过改变外骨骼的杆件长度尺寸和驱动力矩强度，获得膝关节内部构件（韧带、半月板、髌骨、软骨及其它骨骼组织）的应力应变响应规律，进而找出膝关节中受影响最大的若干构件，并据此提出外骨骼设计的力学/结构约束。项目研究将为外骨骼效用评估和新型外骨骼设计提供理论依据和实验数据支持。

中文关键词： 生物力学；外骨骼；人机耦合；膝关节；有限元

英文摘要： TThe lower extremity exoskeleton is a novel robotized wearable device for the walking assistance and the load bearing, which has widely domestic and military application. However the exoskeleton characters with high load, rapid motion and active driving, impose obvious mechanical effects on human joints especially knee joint. Based on the previous investigation on the mechanical response of knee joint to the different loading, this paper adopts the dynamic finite element method to try to answer the following science issue: how does the knee joint response to the different driving mode of exoskeleton? This project plans to firstly construct the biomechanical model which combined the human knee joint model and the exoskeleton model, and then calculates the stress-strain response of knee components (e.g., ligament, meniscus, patella, cartilage and others) with the length adjusting of exoskeleton rod and the strength adjusting of driving moment respectively. Consequently the most influenced components are identified and used for define the mechanical constraints or structural constraints. The achievements of can provide theoretical and experimental data support to the functional evaluation and the novel design of future exoskeleton.

英文关键词： biomechanics；exoskeleton；knee joint；human exoskeleton coupling；finite element analysis